Investigate whether using custom acceleration and max velocity parameters for the goalie improves its performance

[itsarune]

Description of the task

Currently, all of our robots share acceleration and max velocity constraints (found here).

It may make sense to increase these values for the goalie robot to improve its goalkeeping ability.

Approach:

1. Create some field tests for the goalie robot
2. Evaluate whether higher acceleration and/or higher max velocities improve goalkeeping performance
3. If it does, create new RobotConstants with the updated max velocity and acceleration constraints for the goalie.
4. Update RobotFilter to keep track of the RobotConstants to use for each robot. The goalie robot should have the goalie RobotConstants.
5. We should associate the RobotConstants to each robot through SensorFusion by updating friendly_team_filter and the robot_filter.

Acceptance criteria

• [ ] Add field tests for the goalie robot
• [ ] Test if goalie performs better with higher acceleration and max velocity
• [ ] If per-tactic acceleration and velocity constraints are beneficial, implement a way of setting RobotConstants for robots when they are initialized in SensorFusion
• [ ] If per-tactic acceleration and velocity constraints are beneficial, add unit tests to sensor_fusion_test.cpp for the new behaviour introduced for installing new RobotConstants for goalie robots

Blocked By

[mkhlb]

potentially have a movement mode that cares more about speed than accuracy for things like making blocks or taking close pivot shots

[zuperzane]

@mkhlb Maybe it could be like the function of BALLSTEALMODE cause thats just kind of sitting there we could use it