Restored the stop-when-pinned-between-obstacles rule
Restored the stop-when-pinned-between-obstacles rule

with a tweak to keep it from breaking the situation it broke before

elidupree/Lasercake,idupree/Lasercake,elidupree/Lasercake,elidupree/Lasercake,idupree/Lasercake,idupree/Lasercake,Lasercake/Lasercake,idupree/Lasercake,elidupree/Lasercake,elidupree/Lasercake,Lasercake/Lasercake,idupree/Lasercake,elidupree/Lasercake,Lasercake/Lasercake,idupree/Lasercake,Lasercake/Lasercake,elidupree/Lasercake,idupree/Lasercake,Lasercake/Lasercake