def METHOD_NAME(self, side, _release_estop_before_pedal=True):
    self.assertFalse(self.get_program_running(side))
    self.assertFalse(self.mock_dashboard[side].robot_state.get_robot_mode().robot_mode.mode ==
                     RobotMode.RUNNING)
    self.press_pedal()
    rospy.sleep(0.01)
    self.assertTrue(self.mock_dashboard[side].robot_state.get_robot_mode().robot_mode.mode ==
                    RobotMode.RUNNING)
    self.assertTrue(self.get_program_running(side))
    self.mock_dashboard[side].robot_state.emergency_stop(latch=True)
    self.assertTrue(self.mock_dashboard[side].robot_state.get_safety_mode().safety_mode.mode ==
                    SafetyMode.ROBOT_EMERGENCY_STOP)
    self.assertFalse(self.get_program_running(side))
    self.assertFalse(self.mock_dashboard[side].robot_state.get_robot_mode().robot_mode.mode ==
                     RobotMode.RUNNING)
    self.mock_dashboard[side].robot_state.emergency_stop(latch=False)
    self.assertFalse(self.mock_dashboard[side].robot_state.get_safety_mode().safety_mode.mode ==
                     SafetyMode.ROBOT_EMERGENCY_STOP)
    self.press_pedal()
    self.assertTrue(self.mock_dashboard[side].robot_state.get_safety_mode().safety_mode.mode ==
                    SafetyMode.NORMAL)
    self.assertTrue(self.mock_dashboard[side].robot_state.get_robot_mode().robot_mode.mode == RobotMode.RUNNING)
    self.assertTrue(self.get_program_running(side))