Add ramp intake test mode

[jkleiber]

Purpose
The purpose of this ticket is to add a test mode for the ramp intake. This will be used for tuning the ramp prior to full integration on the robot.

Ramp Intake tuning test mode

• PID gains (LoggedTunable)
• feedforwards (kS and kG for sure, kV and kA if we are using them) (LoggedTunable)
• setpoint entry (LoggedTunable)

Project Scope

• Add a ramp intake test mode to the ramp subsystem / test mode manager
• Test the test mode in 3D sim + on line graphs to show that it works
• Test on robot and determine the gains for the ramp

[jkleiber]

@sleepyghost-zzz can you prioritize this? I think we'll be testing this within the next day or two