     	{
         	Serial.println("ROll BB-8 ROLL !");
       	    production = true;
+      	    emgStop = false;
     	}
     
     	if (strcmp(strtok(msg, " "), "STOP") == 0)

    	Serial.print(Zangle);
    	
    	Serial.println(" ");
    }
}

  		{
  		  	if(!zok) 
  			{
  				Serial.println("BOOT z1 ");
  				zok = true;
  				Zangle = 0;
  				delay(2000);
