diff --git a/MainLoop.cpp b/MainLoop.cpp
index e739731..e9b5329 100755
--- a/MainLoop.cpp
+++ b/MainLoop.cpp
@@ -68,6 +68,8 @@ void MainLoop::setup() noexcept
     for (uint8_t i = 0; i < 3; i++) {
         motors[i].commitMoveImmediately();
     }
+
+    StateMachine::getInstance().setState(StateMachine::STATE::IDLING);
 }
 
 void MainLoop::update() noexcept
@@ -108,7 +110,7 @@ void MainLoop::update() noexcept
 
         }
     break;
-    case StateMachine::STATE::ERROR:
+    case StateMachine::STATE::FAULT:
     default:
         // Freeze in place until error clears or device reset
         yield();
diff --git a/StateMachine.cpp b/StateMachine.cpp
index de2ef51..cc44d02 100755
--- a/StateMachine.cpp
+++ b/StateMachine.cpp
@@ -28,12 +28,12 @@ bool StateMachine::setState(const STATE newState) noexcept
 bool StateMachine::canSwitchToState(const STATE newState) const noexcept
 {
     // Error state is final
-    if (state == STATE::ERROR) {
+    if (state == STATE::FAULT) {
         return false;
     }
 
     // Error state only settable via raiseError()
-    if (newState == STATE::ERROR) {
+    if (newState == STATE::FAULT) {
         return false;
     }
 
@@ -88,7 +88,7 @@ bool StateMachine::canSwitchToState(const STATE newState) const noexcept
 
 bool StateMachine::raiseError(const String &reason) noexcept
 {
-    state = STATE::ERROR;
+    state = STATE::FAULT;
     lastError = reason;
     digitalWrite(ERROR_INDICATOR_LED_PIN, HIGH);
     UartHandler& uart = UartHandler::getInstance();
diff --git a/StateMachine.hpp b/StateMachine.hpp
index f6830ec..b897e32 100755
--- a/StateMachine.hpp
+++ b/StateMachine.hpp
@@ -9,7 +9,7 @@ class StateMachine
         INITIALIZING,
         IDLING,
         MOVING,
-        ERROR
+        FAULT
     };
  
     StateMachine(const StateMachine&) = delete;