Offense fsm skel

[jacksherling]

Description

Rewrite of offensive state machine.

Associated / Resolved Issue

Resolves ClickUp card

Design Documents

Link

Steps to Test

Test Case 1: Stealing

1. Move ball away from robots.

Expected result: If one of our robots is closest to the ball, it will fetch it

Test Case 1: Passing

1. Let robot establish possession (e.g. after stealing)
2. Place enemy robot in front of robot to block shot

Expected result: Robot should pass to another robot

Test Case 1: Shooting

1. Let robot establish possession (e.g. after stealing)
2. Ensure no enemy robots are in the way

Expected result: Robot should shoot on enemy goal

Key Files to Review

• offense.cpp/hpp
• position.cpp

Review Checklist

• Docstrings: All methods and classes should have the file appropriate docstrings which follow the guidelines in the "Contributing" page of our docs.
• Remove extra print statements: Any print statements used for debugging should be removed
• Tag reviewers: Tag some people for review and ping them on Slack

[sid-parikh]

I'm approving, but there are comments that ought to be addressed eventually. If we can get to them before Sunday, then push them into this PR. If not, I'll add them to future tasks. Either way, we need this merged before start of meeting Sunday to assign new tasks that build on this.