flowchart TD
    Preflight[Preflight] --> SafetyCheck{Channel 4 clear?}
    SafetyCheck -- no --> Stop[STOP State]
    SafetyCheck -- yes --> Motion[Monitored Motion]
    Motion --> Monitor[EndstopMonitor thread >= 10 Hz]
    Monitor --> C4{C4 clear?}
    C4 -- yes --> Capture[Microscope Capture]
    C4 -- no --> FeedHold[Immediate feed hold]
    FeedHold --> Stop
    Capture --> Stitch[Stitch / Map]
    Stitch --> Review[Manual Probe Review]
    Review --> Approved{Approved target and measured probe offset?}
    Approved -- no --> Stop
    Approved -- yes --> Probe[Bounded probe motion]