From 3adf799d6be1401b9dc7d1266ec143be1e0b424c Mon Sep 17 00:00:00 2001
From: Rooholla-KhorramBakht <learn.kho@gmail.com>
Date: Thu, 8 Feb 2024 22:56:11 -0500
Subject: [PATCH] EStop logic is improved

---
 deploy/robot_ws/src/go2py_node/src/bridge.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/deploy/robot_ws/src/go2py_node/src/bridge.cpp b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
index 8b81577..fd4aa12 100644
--- a/deploy/robot_ws/src/go2py_node/src/bridge.cpp
+++ b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
@@ -177,12 +177,14 @@ void Custom::lowstate_callback(unitree_go::msg::LowState::SharedPtr data)
     }
     pub_joint->publish(joint_state);
     pub_imu->publish(imu);
+    // Check for emergency stop
     memcpy(&_keyData, &data->wireless_remote[0], 40);
     if (_keyData.btn.components.R2 == 1 && _keyData.btn.components.L2 == 1)
     {
         Estop = 1;
     }
-    if (_keyData.btn.components.R1 == 1 && _keyData.btn.components.L1 == 1)
+    if ((_keyData.btn.components.R1 == 1 && _keyData.btn.components.L1 == 1)||
+        (_keyData.btn.components.L2 == 1 && _keyData.btn.components.A == 1))
     {
         Estop = 0;
     }