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## Application State Machine structure
## States description
- **Perform DFU** – receives, verifies and loads new firmware. After a successful update, the robot reboots.
- **READY TO START** – waits for the start command. Until then, the robot is not balancing.
- **OPERATION** – the main state in which the robot balances and receives driving and rotation commands.
- **SOFT STOP** – after an emergency or a regular stop command, PWM ramp-down to zero begins.
- **RESET CONTROL LOOP AFTER STOP** – resets the control loop and corresponding variables after stopping the robot.d497d8f64This file is pinned to the selected release. Download the original to open it in your design tool.