[TODO] Use param node properly in gameplay

[kfu02]

Pull request: #1661

Link to TODO, or file number/line:
https://github.com/RoboJackets/robocup-software/pull/1661/files#r652124038

There are a bunch of python constants that should be local params with our new param node (#1650), but aren't because no one learned how to use the new param node before comp crunch. We should go through and make all those local/global params as needed. (This includes the constants.py file in stp/utils/.)