pseudocode for LUC state machine { state: idle if someone tries to select a new team send out a handshaking request go to wait for response state state: wait for handshake response if we get a response save the address set a timer send a command go to sending command state if 1 second passes go back to idle state: sending commands every 200 ms, send a command if 1 sec passes without an ack from the HZV stop sending commands go back to idle }