diff --git a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java
index 3a6994c..4a03a27 100644
--- a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java
+++ b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmEngine.java
@@ -170,6 +170,7 @@ public abstract class CyberarmEngine extends OpMode {
     new Thread(new Runnable() {
       @Override
       public void run() {
+        finalState.prestart();
         finalState.start();
         finalState.startTime = System.currentTimeMillis();
         finalState.run();
@@ -202,6 +203,8 @@ public abstract class CyberarmEngine extends OpMode {
    */
   public CyberarmState insertState(CyberarmState query, CyberarmState state) {
     int index = cyberarmStates.indexOf(query) + query.insertOffset;
+    Log.i(TAG, "Adding cyberarmState "+ state.getClass());
+
     cyberarmStates.add(index, state);
     query.insertOffset++;
 
diff --git a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
index 1a91428..b0dc1b8 100644
--- a/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
+++ b/TeamCode/src/main/java/org/cyberarm/engine/V2/CyberarmState.java
@@ -22,6 +22,13 @@ public abstract class CyberarmState implements Runnable {
   public void init() {
   }
 
+  /**
+   * Called just before start to ensure state is in correct state
+   */
+  protected void prestart() {
+    isRunning = true;
+  }
+
   /**
    * Called when state has begin to run
    */
@@ -39,7 +46,6 @@ public abstract class CyberarmState implements Runnable {
    */
   @Override
   public void run() {
-    isRunning = true;
     while (!hasFinished) {
       exec();
     }