Error Checking happens indepenent of the state Some errors (no green arm lock, trans PD error) will cause a transition to disengaged state Disengaged Transitional states, which will exit after a fixed time States Init DitherServo disable the feedback in the dither state by setting Controls.Enable Scan Narrow Scan, followed by wider scan Failed Done Logic.ON and no errors OR Logic.Force IR trans>DitherThresh No resonance found at starting frequency or last found resonance frequency IR trans>DitherThresh IR trans <DitherThresh No IR trans found Error signal below thresh, IR trans above thresh for Logic.time delay