Tune Pass Speed with Pass Distance

[sauravbanna]

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Description

Before, we would have the problem of a robot passing the ball to another robot too fast. This causes the ball to just bounce off of the receiver's dribbler instead of being caught by it. So, we need to ensure that the pass is received at an acceptable speed.

To do this, this PR makes changes to the Pass Generator to pick an initial speed for a pass such that its final speed is less than the maximum acceptable speed to prevent the bouncing off.

Testing Done

Added a new simulated test just for passing which allows us to test these changes in isolation. Created a new validation to test for the speed at which a pass is received.

Resolved Issues

Resolved #2904

Length Justification and Key Files to Review

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• [x] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• [x] Remove all commented out code
• [x] Remove extra print statements: for example, those just used for testing
• [x] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[nimazareian]

@sauravbanna We should discuss this change one of these weekends and see if it fits in with our updated architecture...

[nimazareian]

A few of my comments from when I reviewed this PR before and forgot to submit my comments. Feel free to ignore them if they're not applicable anymore.