(#151) Add intake roller state machine with dejam mode

[aidnem]

Adds a state machine for the rollers which:

• Tells them to spin when a positive velocity is commanded
• Tells them to stop when a near-zero velocity is commanded
• When current is too high and velocity is too low for a certain period of time, aggressively spins them backward for a short period of time to dejam

[aidnem]

The intake state machine is a little confusing to me, so we need to test this out to make sure I didn't do anything silly.

[godmar]

Needs testing on actual robot

[aidnem]

Just to reiterate what I said during shop yesterday, I think we should continue testing the robot and then test and merge this if/when we find another intake jam. Until then, I'm not sure if it's necessary/priority. If we absolutely run out of things to test (e.g. corner shots, indexer, and autos are all looking pretty good) and are just going to do 3 hours of driver practice, then we might want to invest time into tuning this.

[aidnem]

I've merged main in here to keep everything up to date.