Shadow Defense Base

[zuperzane]

resolves #3357

Testing involves a py test added to defense test and a shadow fsm test

Resolved defense lack of aggressiveness

[x]New Tests [x]New Tactic [ ]Unable to test in real life, possible when robots free

• [Pretty sure ] Remove all commented out code
• [Believe so ] Remove extra print statements: for example, those just used for testing
• [I think so ] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

Maybe make another TODO that has to do with editing the function on line 15 in src/software/ai/hl/stp/play/defense/defense_play_fsm.cpp

It should make a better decision as to when to start acting like a shadower vs just always taking any passing defender and as soon as they're between the ball and the net acting like shadower. Maybe if it also had nobody to pass to or nowhere to go I'm not sure I could do that for this todo if that makes more sense tho.