Switch IntakeLifter to use a Counter instead of a DigitalInput

[BenBernardCIS]

https://wpilib.screenstepslive.com/s/3120/m/7912/l/170868-using-limit-switches-to-control-behavior

"It's possible that a limit switch might close then open again as a mechanism moves past the switch. If the closure is fast enough the program might not notice that the switch closed. An alternative method of catching the switch closing is use a Counter object. Since counters are implemented in hardware, it will be able to capture the closing of the fastest switches and increment it's count. Then the program can simply notice that the count has increased and take whatever steps are needed to do the operation."