[Gameplay] Fix FreeKickPlay and convert it into using FSMs

[raymond212]

Description of the task

FreeKickPlay is currently implemented with coroutines, and we want to use FSMs for our plays instead.

SSL Free Kick Rules: Once the ball is in play, another robot must touch the ball before the kicker touches it again. In other words, dribbling is not allowed.

Our current free-kick implementation will sometimes result in illegal behaviour because the kicker will begin to dribble the ball immediately.

We should also attempt to score directly from a free kick if there is a clear shot. Currently, this is not yet implemented.

Acceptance criteria

• Convert FreeKickPlay to use FSMs
• Attempt to score directly if possible
• Ensure that free kick behaviour adheres to SSL rules

Blocked By