OurKickoffPlay doesn't work with less than four non-goalie robots.

[barulicm]

OurKickoffPlay prioritizes assigning the defense bots over the support bots (pass receivers). If there are less than four robots, no receiver will be assigned and the pass tactic locks up.

I think best path forward is to make a few different kickoff plays that do intelligent things with different numbers of robots, potentially under different game conditions (ie. wining vs losing).

[barulicm]

Initial diagnosis was incorrect. The problem is a little subtler than we originally thought. c144a11 should mitigate it for quals purposes.

Here are the things which actually contributed to the behavior we saw last week:

• OurKickoffPrepPlay prioritizes defense over supports. (OurKickoffPlay actually ordered them correctly for its purposes.)
• Our small field means the bots are always pretty close together, which can make assignment a little unstable sometimes.
• The pass tactic & receive skill treated balls closer than 1m to the receiver as in the receiver's area, so it would skip kicking and have the receiver drive up to the ball.
• The pass tactic does not move the passer away from the ball if it is in the receiver's area. This can sometimes prevent the path planner from finding a valid path to the ball.

There are a lot of implicit assumptions in the passing code towards longer passes, which make sense on a real size field but not in our lab.