Carroll/branching task

[BC-UON]

Things the PR does go here

• these can be bullet
• points like this
• if you like

Pre-PR Checklist:

Have you

• Updated NUbook if necessary (add link to NUbook PR here)
• Added/updated tests for your changes, including regression tests for bug fixes
• Updated relevant module READMEs
• Added/modified documentation directives in relevant code
• Added a descriptive title and relevant labels to the PR

Optional Headings (delete this heading and the ones you don't use)

Reviewers, Note

Things the reviewers should keep in mind go here.
Also tell reviewers how to verify/test your code's correctness here.

Things left to do

• If you have more things to do
• Add them here

If there are many things left to do then consider a draft PR

Labels Info (delete the rest of this once you have read it)

We use GitHub's Labels to categorise PRs and Issues. Most PRs should have these labels:

• G-Group-Name: G for the group(s) associated with or reviewing the PR.
• L-Language-Name: L for the language(s) which are used most in the PR.

Less common label categories include:

• !!-High-Priority-Reason: A reason this PR is high priority e.g. it's a bug or it's explicitly for RoboCup.
• -General-Thing: A general PR thing. These are all case-by-case and don't fit well into the other categories.
• -D-Difficulty-Level: The difficulty level of implementing the change. This is mostly used for issues and is usually not applicable to PRs.

A full list of labels is available here.