   }
 }
 
-void abort() {
+void emergencyStop() {
     stepperL.setCurrentPosition(stepperL.currentPosition());
     stepperR.setCurrentPosition(stepperR.currentPosition()); 
 }

      insertCmd("BK 20"); 
    } else if (nowColliding == 2) {
      // 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
