add uptake banner sensor

[linglejack06]

Summary: add sensor to uptake to prevent intake from running with note already in. This will prevent tech fouls.

Changes:

• add banner sensor to intake io (easily change to break sensor)
• add boolean supplier for intake to check if note in shooter deck
• add check in idle mode (don't set intake action if note is sensed in uptake)
• add check in reversing state for note in shooter deck (if so run belt backwards) Resolves #149

[linglejack06]

@jkleiber this is the new pull request with a banner sensor in intake io class

[PChild]

We installed uptake note funnels today, those will be used to mount the uptake beam break which should be done tomorrow. The uptake beam break will low in the uptake (just above the intake rollers) so it should detect a note very early in the system and be effective for preventing two notes.

[PChild]

I think Justin closed the wrong one, feel free to re-close if not.

[jkleiber]

Yeah I closed the wrong one, thanks for catching that

[linglejack06]

@jkleiber just updated logic to reflect what was reviewed

[linglejack06]

sounds good

[jkleiber]

@linglejack06 can we add controller rumble to this PR for if the masher tries to intake while the robot thinks it already has a note?

[linglejack06]

Yes I can add that to PR soon

[jkleiber]

closing this as I believe it was added in #179