Add chipping functionality to panic kick

[JNeiger]

Panic kick is a feature of pivot kick where if an opponent is approaching the kicker, we kick before they get there as a way to keep the ball in play on the field. Right now there is only support for a linear kick.

Chip support should be added such that, when we are facing up-ish the field and a robot is moving towards us in a chippable range, we should chip over them. This will override the current kick/chip selection. Care should be made not to chip into the opponent goal as that would not be counted. Special care should also be taken to implement this in a way where disabling this feature is simple. I can easily see this being necessary/a hinderence depending on how good our robots are at comp.