Reconnect gamepad without stopping the robot

Currently, pressing any button (esp. start) to re-connect the gamepad stops the robot. This merge request is a specific implementation to avoid that behavior.

• Activating and deactivating the soft emergency stop does nothing beyond that.
• Do not stop the robot when pressing any button, but only when releasing the right trigger (and not pressing a button that enables/disables the soft emergency mode at the same time)

Implementation discussed with @peller; to be further discussed in software meeting.