Merge passing architecture changes into new gameplay branch

[williamckha]

Description

Working on merging in #3200 passing changes into the new gameplay branch. We need to refactor parts of the new gameplay in order to work with the new passing architecture.

Testing Done

Resolved Issues

Length Justification and Key Files to Review

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• [ ] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• [ ] Remove all commented out code
• [ ] Remove extra print statements: for example, those just used for testing
• [ ] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[williamckha]

Will merge in the rest of the new passing changes later as they come along