Resolve "Add Integration Test checking for KickOff Situation"

Closes #1961

See merge request main/Sumatra!1838

sumatra-commit: be484e6acc8b4edf78321eb477422b3702393fdd

modules/common/src/main/java/edu/tigers/sumatra/ids/EAiTeam.java

@@ -21,7 +21,7 @@ public enum EAiTeam
 
 	;
 
-	private ETeamColor teamColor;
+	private final ETeamColor teamColor;
 
 
 	/**
@@ -53,4 +53,29 @@ public boolean matchesColor(ETeamColor color)
 	{
 		return color == teamColor;
 	}
+
+
+	/**
+	 * @param color
+	 * @return
+	 */
+	public static EAiTeam opposite(final EAiTeam color)
+	{
+		return switch (color)
+		{
+			case YELLOW -> BLUE;
+			case BLUE -> YELLOW;
+		};
+	}
+
+
+	/**
+	 * @return
+	 */
+	public EAiTeam opposite()
+	{
+		return opposite(this);
+	}
+
+
 }

modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/data/BallContact.java

@@ -126,4 +126,14 @@ public boolean hadContactFromVision(double horizon)
 	{
 		return (current - visionEnd) * 1e-9 < horizon;
 	}
+
+
+	/**
+	 * @return true, if the ball had contact within the last 0.2 seconds
+	 */
+	public boolean hadRecentContactFromVision()
+	{
+		return hadContactFromVision(recentContactHorizon);
+	}
+
 }