[Gameplay] PassDefenders Should Attempt to Steal Intercepted Balls

[Andrewyx]

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Description

Provides similar features as #3230 to pass defenders, where they can take possession of the ball on a successful intercept. Consolidates Crease and Pass defenders with new base class containing shared functions.

Testing Done

Added FSM tests and additional pytest validations.

Resolved Issues

Resolves #3217 Partially Blocked by #3230

Length Justification and Key Files to Review

Review Checklist

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

• [x] 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.
• [x] Remove all commented out code
• [x] Remove extra print statements: for example, those just used for testing
• [x] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[Mr-Anyone]

Honestly, looks about right. I think you are basically there!

Maybe add a test of some sort since this is a FSM?