diff --git a/Tacos/src/statemachine.cpp b/Tacos/src/statemachine.cpp
index a3b0227..a5c4609 100644
--- a/Tacos/src/statemachine.cpp
+++ b/Tacos/src/statemachine.cpp
@@ -72,8 +72,9 @@ namespace sta
 			transition.event = EventFlags::NORMAL;
 			transition.lockout = lockout;
 
-			// TODO: For how should we wait here?
-			queue_.put(transition);
+			// Try to add a state transition request to the queue. Don't wait if another
+			// thread is already requesting a state change.
+			queue_.put(transition, 0);
 		}
 
 		void Statemachine::requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout /* = 0 */)