       insertCmd("BK 20"); 
     } else if (nowColliding == 2) {
       // abort current command
-      abort();
+      emergencyStop();
       buzz(500);
       
       // insert some recovery steps

    
    if (nowColliding == 1) {
      // abort current command
      abort();
      buzz(500);
      
      // insert some recovery steps

      insertCmd("BK 20"); 
    } else if (nowColliding == 3) {
      // abort current command
      emergencyStop();
      buzz(500);
      
      // insert some recovery steps
