@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 PreOperational
    PreOperational : Entry / Stop motor
    PreOperational : Do / Blink LED at 1 Hz
    PreOperational : Do / Accept Kp and Ti configuration
    PreOperational : Do / Select P or PI controller [c]
    PreOperational : Exit / LED off

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 -r-> PreOperational : initialization\n complete
' Initialization -d-> Operational : initialization\n complete

PreOperational -d-> Operational : set operational [o]
PreOperational -l--> Initialization : reset [r]

Operational -u-> PreOperational : set pre-operational [p]
Operational -> Initialization : reset [r]
Operational --> Stopped : fault detected

Stopped -l-> Initialization : reset [r]
Stopped -> Operational : set operational [o]
Stopped -u-> PreOperational : set pre-operational [p]

@enduml