Tune PivotKick ability in the mezzanine and make appropriate changes for better control

[itsarune]

Description of the task

• Test PivotKick in the mezz
• Tune its params and see if we can get better control:
  • pivot around the ball (rather than the origin of the robot)
  • slow down the robot once we possess the ball
  • ingest the ball during pivot kick

Acceptance criteria

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Blocked By

[itsarune]

Note: at Robocup 2024, we noticed that we move around the ball quite slowly. This should be tuned with this ticket.