Create PULL_REQUEST_TEMPLATE.md

Adding a new pull request template to automatically fill in the pull request description.

Author: xwli-chelsea

.github/PULL_REQUEST_TEMPLATE.md

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+# Description
+
+Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change.
+
+Fixes # (issue)
+
+## Type of change
+
+Please delete options that are not relevant.
+
+- [ ] Bug fix (non-breaking change which fixes an issue)
+- [ ] New feature (non-breaking change which adds functionality)
+- [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
+
+## List all changes 
+Please list all changes in the commit.
+* change1
+* change2
+
+# Testing
+Please describe the tests that you ran to verify your changes. Provide instructions so we can reproduce. Please also list any relevant details for your test configuration
+
+
+**Test Configuration**:
+* Firmware version:
+* Hardware:
+* Toolchain:
+* SDK:
+
+# Checklist
+
+- [ ] My code follows the style guidelines of this project
+- [ ] I have performed a self-review of my own code
+- [ ] I have commented my code, particularly in hard-to-understand areas
+- [ ] I have made corresponding changes to the documentation
+- [ ] My changes generate no new warnings
+- [ ] I have added tests that prove my fix is effective or that my feature works
+- [ ] New and existing unit tests pass locally with my changes
+- [ ] Any dependent changes have been merged and published in downstream modules