Improve `StopPlay` by positioning robots more intelligently and convert it to an FSM play

[williamckha]

Description of the task

StopPlay currently assigns 3 robots to stay a distance of 0.5 m from the ball, 2 crease defenders, and a goalie. We don't need 3 robots nearby the ball most of the time. Instead, we should position our robots more intelligently during StopPlay so that the team is prepared to play once the game resumes.

Acceptance criteria

• [ ] Convert StopPlay into an FSM play
• [ ] Position robots more intelligently (e.g. ready to receive/intercept a pass) during StopPlay
• [ ] Robots during StopPlay should still obey rules for the Stop referee command

Blocked By