PTO Gameplay and Game Tracking changes

[chachmu]

1. A variety of motion/parameter tuning on real robots for capture/pivot kick/line kick.
2. Fix game_state_tracker remembering where the ball was last seen when it becomes invisible
3. Fix breakbeam detection updating in game_state_tracker
4. Move breakbeam ball detection filter into game_state_tracker
5. Set defenders only play to never run unless manually selected
6. Handle double touch in kickoff_on_goal play
7. Fix free_kick_on_goal play never resetting after kicking the ball
8. Fix motion intent system not running the angular controller when using linear velocity commands.
9. Add intercept calculation helper
10. Modify control test play to use the new motion intent system.