Add ability to run intake until ball is captured

[rtfoley]

• [x] Add a new command CaptureBoulder:
• [x] Bind the command to a joystick button for now
• [x] Command should only require the intake subsystem
• [x] Command isFinished method should return true once the ball is fully captured
• [x] There should also be an ability to cancel this command, which would stop the intake immediately.