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flock-rca

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[PlayOn] RCA for halting flock tail

See the log below - essentially CCS overwhelms v causing up/down back and
forth along a wall.

(-9151, -8401) => (-9151, -8451) => (-9151, -8401)
NOT MOVING: 274
274: csc [0.42046, 0.90731] igt False csd [0.50711, -0.70711] ccs [0.09521, -0.99546] ali [0.49851, 0.24461] coh 0.555291081452987 seek [0.43779, 0.58443] wali 0.130465412523449 v [0.56949, -0.75400]
(-9151, -8451) => (-9151, -8401) => (-9151, -8451)
NOT MOVING: 274
274: csc [0.42046, 0.90731] igt False csd [0.50711, -0.70711] ccs [0.94703, 0.32115] ali [0.47682, 0.25308] coh 0.53981570492765 seek [0.43779, 0.58443] wali 0.127199197610197 v [1.67389, 0.95978]
(-9151, -8401) => (-9151, -8451) => (-9151, -8401)
NOT MOVING: 274
274: csc [0.42046, 0.90731] igt False csd [0.50711, -0.70711] ccs [0.10007, -0.99498] ali [0.51738, 0.23725] coh 0.569180740004328 seek [0.43779, 0.58443] wali 0.133339255596252 v [0.57849, -0.75534]
(-9151, -8451) => (-9151, -8401) => (-9151, -8451)
NOT MOVING: 274
274: csc [0.42046, 0.90731] igt False csd [0.50711, -0.70711] ccs [0.94246, 0.33433] ali [0.49490, 0.24602] coh 0.552673787312988 seek [0.43779, 0.58443] wali 0.129918168027988 v [1.67040, 0.97509]
(-9151, -8401) => (-9151, -8451) => (-9151, -8401)
NOT MOVING: 274
274: csc [0.42046, 0.90731] igt False csd [0.50711, -0.70711] ccs [0.10413, -0.99456] ali [0.49851, 0.24461] coh 0.555291081452987 seek [0.43779, 0.58443] wali 0.130465412523449 v [0.58108, -0.75284]
(-9151, -8451) => (-9151, -8401) => (-9151, -8451)
NOT MOVING: 274
274: csc [0.42046, 0.90731] igt False csd [0.50711, -0.70711] ccs [0.87546, 0.48329] ali [0.49663, 0.24535] coh 0.553923685823071 seek [0.43779, 0.58443] wali 0.130179750160861 v [1.58355, 1.16856]
(-9151, -8401) => (-9151, -8451) => (-9151, -8401)
NOT MOVING: 274
274: csc [0.42046, 0.90731] igt False csd [0.50711, -0.70711] ccs [0.00000, -1.00000] ali [0.49663, 0.24535] coh 0.553923685823071 seek [0.43779, 0.58443] wali 0.130179750160861 v [0.44545, -0.75971]
(-9151, -8451) => (-9151, -8401) => (-9151, -8451)

2d-variable-radius-works-apr2017

Toggle 2d-variable-radius-works-apr2017's commit message 
variable radius