1. Set up a python2 environment

cd your_project_path
sudo pip install pipenv
sudo pipenv --python 2.7
sudo pipenv install platformio
sudo pipenv shell

2. Find out your board name id

platformio boards your_board_name

https://platformio.org/boards
http://docs.platformio.org/en/latest/quickstart.html

3. Initialize your project
   If you got an uno board, you just have to run this: platformio init --board uno

4. Writing codes

mkdir src
cd src

Write the following codes into main.cpp:

#include "Arduino.h"

void setup() {
}

void loop() {
}

5. Run or Upload as you like
   Build your project: platformio run
   Upload your codes into board: platformio run --target upload