[DRAFT] Receiver tactic moves away from shot attempts

[nycrat]

Description

Adds new guard and state to receiver FSM to check if robot is blocking a possible shot attempt. Then, sets the state to "move away from shot attempt" which tells the robot to move perpendicular to the shot trajectory away from it.

Testing Done

Resolved Issues

Resolves #3343

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