Write command to acquire cubes that are in the intake.

[mbardoe]

Using the Command structure write a command that uses the subsystems of the arm and the claw to automatically collect in the claw a cube that has made it to the intake. It will need to run slowly and gently to go down and angle of the claw and the arm must be determined. You might look at other code for how we started to get the robot to pick up off the floor here: In the file oi/OI.py on the commit called Arm finishing works on the branch autonomous/feat/scoring