From c5616870eb6ce7e01a8db7311a08810467149d07 Mon Sep 17 00:00:00 2001
From: isakg22 <isakg22@ru.is>
Date: Thu, 1 Oct 2026 13:43:51 +0000
Subject: [PATCH] =?UTF-8?q?B=C3=A6tti=20vi=C3=B0=20input=20fyrir=20p=20?=
 =?UTF-8?q?=C3=AD=20stopped=20fyrir=20fault=20og=20samhli=C3=B0a=20uppf?=
 =?UTF-8?q?=C3=A6r=C3=B0i=20UML=20fyrir=20=C3=BEa=C3=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 docs/diagrams/src/motor_state.wsd | 1 +
 src/stopped_state.cpp             | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/docs/diagrams/src/motor_state.wsd b/docs/diagrams/src/motor_state.wsd
index d864398..5a26b55 100644
--- a/docs/diagrams/src/motor_state.wsd
+++ b/docs/diagrams/src/motor_state.wsd
@@ -43,5 +43,6 @@ Operational --> Stopped : fault detected
 
 Stopped --> Initialization : reset [r]
 Stopped --> Operational : set operational [o]
+Stopped --> PreOperational : set pre-operational [p]
 
 @enduml
diff --git a/src/stopped_state.cpp b/src/stopped_state.cpp
index cf72752..c531a3b 100644
--- a/src/stopped_state.cpp
+++ b/src/stopped_state.cpp
@@ -61,6 +61,13 @@ void StoppedState::command(char c)
 
         context->to_operational();
     }
+
+    else if (c == 'p' || c == 'P')
+    {
+        Serial.println("Command: set pre-operational");
+
+        context->to_pre_operational();
+    }
 }