penalties for humanoid league

* change "Service/Incapable" to "Pickup/Incapable"
* add "Service" penalty button (sets 60s penalty or adds 30s for upgrade)
* generally differentiate between pickup and service
substituting unpenalized players does not add a penalty

In the humanoid league, players that are not in play and have no
penalty can be substituted without an additional penalty. Active
players need to be taken out of the field (implying a penalty)
before they can be substituted.
Humanoid League uses the terms "red" and "blue" now
Merge branch 'master' of https://github.com/bhuman/GameController