Basic intake subsystem

[darren4141]

Checkpoints

• [x] Get the intake to spin forward and back by holding down a button (X & Y)
• [ ] Speed vs voltage feedforward (IRL testing)
• [ ] Apply a small feedforward to hold onto the note
• [x] Verify beam brake sensor
• [ ] Coordinate the feedforward with the beam brake sensor
• [ ] Coordinate with the shooter (commands)

Commands:

1. [ ] Intake note until beam brake is hit, apply feedforward to hold onto note
2. [ ] Feed note into the shooter, check that shooter is fast enough
3. [x] Spit note out

[PaisWillie]

@Renyi-110 @frankk-d Rename commands spit to outtake, and suck to intake