diff --git a/Tacos/src/statemachine.cpp b/Tacos/src/statemachine.cpp
index b1a9154..c7daf0f 100644
--- a/Tacos/src/statemachine.cpp
+++ b/Tacos/src/statemachine.cpp
@@ -33,25 +33,28 @@ namespace sta
 
 		void Statemachine::func()
 		{
-			uint16_t next = transitionFunc_(currentState_);
-
-			STA_ASSERT(next < STA_TACOS_NUM_STATES);
-
-			// Check if a state change is desired. Block if the lockoutTimer is still running.
-			if (next != currentState_ && !lockoutTimer_.isRunning())
+			if (!lockoutTimer_.isRunning())
 			{
-				if (failsafeTimer_.isRunning())
+				uint16_t next = transitionFunc_(currentState_);
+
+				STA_ASSERT(next < STA_TACOS_NUM_STATES);
+
+				// Check if a state change is desired. Block if the lockoutTimer is still running.
+				if (next != currentState_)
 				{
-					failsafeTimer_.stop();
+					if (failsafeTimer_.isRunning())
+					{
+						failsafeTimer_.stop();
+					}
+
+					// Call user space code to set the timers again.
+					timerFunc_(next, currentState_, EventFlags::NORMAL);
+
+					// Update the state and trigger the global state changed event.
+					currentState_ = next;
+					Statemachine::stateChangeEvent.set(EventFlags::NORMAL);
+					Statemachine::stateChangeEvent.clear(EventFlags::ALL);
 				}
-
-				// Call user space code to set the timers again.
-				timerFunc_(next, currentState_, EventFlags::NORMAL);
-
-				// Update the state and trigger the global state changed event.
-				currentState_ = next;
-				Statemachine::stateChangeEvent.set(EventFlags::NORMAL);
-				Statemachine::stateChangeEvent.clear(EventFlags::ALL);
 			}
 
 			osThreadYield();