Add Intake Code

[bjrice13]

The Intake needs the following functionalities:

• [x] Run Intake forwards (inhale)

• [x] Run Intake backwards (exhale)

• [x] Stop Intake

• [x] Swing Intake arms inward/outward

It would be nice if the Intake has the following functionalities:

• [x] Detect when a cube is fully grasped

• [x] Stop Intake motors when cube is grasped (over-torquing)

Proposed UML Class Diagram:

Intake \========== -IN_ANGLE: double -OUT_ANGLE: double -last_angle : double \========== +run(forward : bool, speed : double = 0.8) : void +set_angle(angle : double) : void +toggle_angle(type : enum angle_type) : void

[bjrice13]

Added in ERAU Fall Tournament Release