Simple box-based positioning system based on hacks used in Robocup 2013

Use when wifi is bad. Currently turned off (new playbook is on). Not a completely functional system yet (see issue #603). 
-Josh I.
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This formalizes the hack defender/offender system that we threw together in Eindhoven because of wifi/comm issues. It currently allows for two defenders, a goalie and a chaser.

Each of the three field players have a "box" which defines where the ball must be located in order for them to chase it, and at all other times they are located at their "home" position watching for the ball.

The two defenders' homes are found slightly ahead and toward the outside of the goal box, and their boxes are our half of the field, with a line down the middle of it.

The chaser's home is at midfield on one of the sidelines (depending on player number), and its box is the entire field. The box is as such because we want the chaser to chase the ball at all times!

Like Josh said, this is a work in progress and is currently turned OFF.
-Daniel Z.