Improuve attack the attack synergie

[dalestee]

After reviewing the pr #67 I saw some improuvements to the attacker that can't be done during the robocup but are nice to be implemented in the future.

Improuvements

• letting the attacker to pass towards the ally field if it's needed could be a solution for some situations
• the attacker would be better if it prioritized to pass the ball to an ally bot with a greater angle of shoting than his instead of shooting every time he has an angle

Theses improuvements are only possible if we have less insecurities with the hardware.

[dalestee]

I don't agree with me from the past, the attacker must kick whenever it sees a window, but not just kick randomly when it has no angle