migrate intake beam break detection to Interrupts

[realjoshuau]

JavaDoc: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/AsynchronousInterrupt.html

it's pretty simple, instead of doing something like:

  public Command intakeIn() {
    return this.run(
// insert command body here
        .until(beambreak::isTriggered)
        .andThen(this.off());
  }

you would basically remove the .until and .andThen, and migrate the this.off() call to the callback of the AsyncInterrupt.

this should improve beam break perf, but remains to be seen.

[linear]

RCD-53 migrate intake beam break detection to Interrupts