diff --git a/src/emergency_stop b/src/emergency_stop
index cc6bc11..26f0d73 160000
--- a/src/emergency_stop
+++ b/src/emergency_stop
@@ -1 +1 @@
-Subproject commit cc6bc11994f9ba8b87aceff3ba55cc190027819f
+Subproject commit 26f0d73a41d6be64c2cf13c7d7a3fc7b26152e22
diff --git a/src/pure_pursuit b/src/pure_pursuit
index 98df3e1..c5c97bb 160000
--- a/src/pure_pursuit
+++ b/src/pure_pursuit
@@ -1 +1 @@
-Subproject commit 98df3e17c3056f1c22d60cc0588832c902e77e38
+Subproject commit c5c97bbd352442f73c18171c6fbfecd6342c2ca0