Added behavior for marking enemy robots

[jvogt23]

Description

Describe your pull request.
Added a defensive behavior to mark enemy robots by following them around the field and blocking them from receiving the ball. Currently, it assumes that one marker will be created, and it creates the marker after there are 3 Wallers in play. If more markers are used in the future, logic will have to be added that gives each marker a different target.

Associated / Resolved Issue

Resolves # or ClickUp card
#86ayuj73h

Design Documents

Link

Steps to Test

Test Case 1

1. Step 1 - Start a match
2. Step 2 - There should be 3 Wallers, and a Marker should be following around the lowest enemy robot.
3. Step 3 - Move the ball and the enemy robot around, and move enemy robots in and out of our half of the field.

Expected result:???
The waller with the highest ID should now be a Marker, and it will follow around the lowest ID'd robot on the other team that is on our side of the field. The Marker will enter a planning state whenever it is searching for a robot to mark, and it will not move during this time. When it finds a robot to mark, it will immediately target that robot.

Key Files to Review

Group 1: Marker classes

• File 1 marker.cpp
• File 2 marker.hpp

Group 2 Defense

• File 3 defense.cpp
• File 4 defense.hpp

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

(Optional) Sub-issues (for drafts)

Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.

• Step 1
• Step 2

[sid-parikh]

The logic is sound and the demo was impressive! I left a few comments for code quality purposes

[sid-parikh]

sorry for not catching this on my first review. i'll help you with merge conflicts on Tuesday