@startuml

[*] --> Initialization

state Initialization
state Operational

Initialization : entry / initialize parameters
Initialization : entry / send Boot-up
Initialization : do / wait for command

Operational : entry / enable motor control
Operational : entry / LED ON
Operational : do / update speed controller at 250 Hz
Operational : exit / stop motor control
Operational : exit / LED OFF

Initialization --> Operational : set operational / 'o'
Operational --> Initialization : reset / 'r'

@enduml