Changes made for Pathfinder 5226 controllers.

If the backgauge or the backgauge finger is within a certain distance from the zero point it can run into the clamp if the clamp is not high enough. The controller is supposed to use Clamp Collision Crisis Distance and Backgauge Collision Crisis Distance to handle this situation. If the backgauge is moving into the Clamp Collision Crisis Distance area then the clamp needs to move to the Backgauge Collision Crisis Distance instead of the operation step height. The problem was that the controller was not looking at the target based on whether the backgauge finger was up or not. This causes the clamp to not use the collision height when the fingers are up causing crashes.

The solution to this problem was to look at whether the finger is up or not. If the finger is going to be used then check if the backgauge target - the finger offset distance is going to be in the collision area and adjust clamp height accordingly.