diff --git a/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java b/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
index b5ef54a..1837c0a 100644
--- a/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
+++ b/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
@@ -113,6 +113,14 @@ public abstract class CyberarmEngine extends OpMode {
       return;
     }
 
+    if (!useThreads) {
+      threadlessExecState(state);
+
+      for (CyberarmState task : backgroundTasks) {
+        threadlessExecState(task);
+      }
+    }
+
       // Add telemetry to show currently running state
     telemetry.addLine(
             "Running state: " +state.getClass().getSimpleName() + ". State: " +
@@ -213,18 +221,36 @@ public abstract class CyberarmEngine extends OpMode {
     final CyberarmState finalState = state;
 //    if (state.isRunning()) { return; } // Assume that we have already started running this state
 
-    new Thread(() -> {
+    if (useThreads) {
+      new Thread(() -> {
+        finalState.prestart();
+        finalState.start();
+        finalState.startTime = System.currentTimeMillis();
+        finalState.run();
+      }).start();
+    } else {
       finalState.prestart();
       finalState.start();
       finalState.startTime = System.currentTimeMillis();
-      finalState.run();
-    }).start();
+    }
 
     for (CyberarmState kid : state.children) {
       runState(kid);
     }
   }
 
+  /**
+   * Recursively exec states
+   * @param state State to exec
+   */
+  private void threadlessExecState(final CyberarmState state) {
+    state.exec();
+
+    for (CyberarmState kid : state.children) {
+      threadlessExecState(kid);
+    }
+  }
+
   /**
    * Add state to queue, will call init() on state if engine is running
    * @param state State to add to queue
@@ -485,7 +511,7 @@ public abstract class CyberarmEngine extends OpMode {
   }
 
   /**
-   * NO OP
+   * Disable running states in their own threads which might help with random crashes.
    */
   public void threadless() {
     useThreads = false;
diff --git a/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmState.java b/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmState.java
index ed83fdc..55b4b8b 100644
--- a/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmState.java
+++ b/TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmState.java
@@ -45,6 +45,7 @@ public abstract class CyberarmState implements Runnable {
   /**
    * State's main loop, calls exec() until hasFinished is true
    * DO NO OVERRIDE
+   * blocking
    */
   @Override
   public void run() {
@@ -162,6 +163,7 @@ public abstract class CyberarmState implements Runnable {
    */
   public void setHasFinished(boolean value) {
     hasFinished = value;
+    isRunning = value; // Dubious?
   }
 
   /**
@@ -177,6 +179,7 @@ public abstract class CyberarmState implements Runnable {
    */
   public void finished() {
     hasFinished = true;
+    isRunning = false;
   }
 
   /**