Add Uptake Sensor

[linglejack06]

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

Changes:

• add time of flight sensor library from playingWithFusion
• add Time of Flight sensor to IntakeIOSparkMax class
• 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

[honzikschenk]

@linglejack06 Could you please put the ToF sensor in the intake io instead of making a new sensor io?

This is my personal opinion though, what do you think @jkleiber?

[jkleiber]

I agree, let's put it in the Intake IO if possible

[linglejack06]

Yeah I'll change that

[jkleiber]

@wrob3rts just fyi: if you figure out how to interface with the sensor, this is the relevant PR

[jkleiber]

@linglejack06 on Saturday we saw that the Time of Flight sensor was causing weird problems on the kit bot. Apparently other teams have seen it take 30+% more CPU usage when it is in use as well.

I think we are going to add a banner sensor or a beam break to the uptake. @PChild probably has more details, but let's create a separate branch for a PR that uses a banner sensor instead and keep this PR in our pocket in case the ToF sensor comes back in scope

[linglejack06]

okay ill add that PR shortly.

[PChild]

We got one of the beam breaks installed today in the shooter deck for indexing, its working well and was drop in replace from the banner sensor. I think we can go ahead and close this PR and just go with #163

[PChild]

Closing this one in favor of #163 feel free to re-open if we need this for some reason.