Recent ball pattern: move as close as possible to colliding position

[timonegk]

Is your feature request related to a problem? Please describe.

As came up in #85, when we are searching a recent ball with a pattern, we skip pattern positions that are colliding. This could lead to areas that are not very well covered by the pattern.

Describe the solution you'd like

The head could move as close as possible to the desired positions without colliding.

[timonegk]

Or instead evaluate if the recent ball search pattern is even needed