@startuml
' skinparam linetype ortho
' skinparam nodesep 100
skinparam ranksep 80

skinparam state {
    BackgroundColor LightBlue
}

[*] --> Initialization

state Initialization 
    Initialization : Entry / Stop motor 
    Initialization : Entry / Initialize internal parameters
    Initialization : Entry / Reset speed measurement
    Initialization : Do / Wait 2 seconds
    Initialization : Exit / Send Boot-up message

state Operational 
    Operational : Entry / LED on
    Operational : Do / Run speed controller
    Operational : Exit / Stop motor and LED off

state Stopped
    Stopped : Entry / Stop motor
    Stopped : Do / Blink LED at 2 Hz
    Stopped : Exit / LED off

Initialization --> Operational : initialization complete
Operational --> Initialization : reset
Operational --> Stopped : fault detected

Stopped --> Initialization : reset
Stopped --> Operational : set operational

@enduml