Make `KickoffFriendlyPlay` kick (not chip) and convert it into an FSM

[williamckha]

Description of the task

Currently, KickoffFriendlyPlay chips the ball in the opposition half as soon as the NORMAL_START referee command is issued. This was a problem at RoboCup since some teams we played against didn't have working/moving robots, so we ended up chipping the ball into the enemy goal on kickoffs because no enemy tried to intercept the chip. Unfortunately, chip goals are disallowed:

The height of the ball [must] not exceed 0.15 meters after the last touch of the teams robots

We would like to change the behavior of KickoffFriendlyPlay such that our goals do count if we manage to score on kickoff. For example, we could find the shot on goal with the best open angle and kick the ball, or chip towards a corner if no good shot is available.

In fact, we bodged this exact change to KickoffFriendlyPlay during RoboCup 2024, which was critical to us scoring the tying goal in the last second of the match vs NAMeC...

Acceptance criteria

• [x] Convert KickoffFriendlyPlay into an FSM play
• [ ] Make KickoffFriendlyPlay kick towards the goal and not chip
• [ ] Validate it using a simulated pytest

Blocked By

[Muxite]

the fsm and stuff is done im just waiting to use the kickoff play test PR. Workig on Kickoff Enemy Play for now since both use that test anyway.