diff --git a/controls/src/main/java/state_machine/State/StateConfiguration.java b/controls/src/main/java/state_machine/State/StateConfiguration.java
index cbb156f..0a42c84 100644
--- a/controls/src/main/java/state_machine/State/StateConfiguration.java
+++ b/controls/src/main/java/state_machine/State/StateConfiguration.java
@@ -100,6 +100,12 @@ public void runOnExit(Transition transition) {
         }
     }
 
+    public void runTransition(Transition transition) {
+        if (transitionAction != null) {
+            transitionAction.accept(transition);
+        }
+    }
+
     public StateConfiguration<State, Trigger> disableDefaultTransitionAction(){
         this.runDefaultTransitionAction = false;
         return this;
diff --git a/controls/src/main/java/state_machine/StateMachine.java b/controls/src/main/java/state_machine/StateMachine.java
index 9f4b678..7ebabe9 100644
--- a/controls/src/main/java/state_machine/StateMachine.java
+++ b/controls/src/main/java/state_machine/StateMachine.java
@@ -53,4 +53,8 @@ public boolean successfulTransition() {
     public TransitionInfo getTransitionInfo() {
         return transitionInfo;
     }
+
+    public boolean inState(State state){
+        return currentState.equals(state);
+    }
 }
diff --git a/controls/src/main/java/state_machine/StateMachineConfiguration.java b/controls/src/main/java/state_machine/StateMachineConfiguration.java
index 884b30f..c9ada58 100644
--- a/controls/src/main/java/state_machine/StateMachineConfiguration.java
+++ b/controls/src/main/java/state_machine/StateMachineConfiguration.java
@@ -3,13 +3,13 @@
 import java.util.HashMap;
 import java.util.Map;
 import java.util.Optional;
-import java.util.function.Consumer;
+import java.util.function.BiConsumer;
 
 public class StateMachineConfiguration<State, Trigger> {
     private Map<State, StateConfiguration<State, Trigger>> stateConfigurations;
-    private Consumer<Transition> onEntryAction;
-    private Consumer<Transition> onExitAction;
-    private Consumer<Transition> transitionAction;
+    private BiConsumer<State, Transition> onEntryAction;
+    private BiConsumer<State, Transition> onExitAction;
+    private BiConsumer<State, Transition> transitionAction;
 
     public StateMachineConfiguration() {
         // temp solution
@@ -54,17 +54,17 @@ public Optional<Transition<State, Trigger>> getTransition(State state, Trigger t
         return transition;
     }
 
-    public StateMachineConfiguration<State, Trigger> configureOnEntryAction(Consumer<Transition> action){
+    public StateMachineConfiguration<State, Trigger> configureDefaultOnEntryAction(BiConsumer<State, Transition> action){
         this.onEntryAction = action;
         return this;
     }
 
-    public StateMachineConfiguration<State, Trigger> configureOnExitAction(Consumer<Transition> action){
+    public StateMachineConfiguration<State, Trigger> configureDefaultOnExitAction(BiConsumer<State, Transition> action){
         this.onExitAction = action;
         return this;
     }
 
-    public StateMachineConfiguration<State, Trigger> configureTransitionAction(Consumer<Transition> action){
+    public StateMachineConfiguration<State, Trigger> configureDefaultTransitionAction(BiConsumer<State, Transition> action){
         this.transitionAction = action;
         return this;
     }
diff --git a/controls/src/test/java/StateContainerStateMachineTests.java b/controls/src/test/java/StateContainerStateMachineTests.java
index 71fe881..663cb7f 100644
--- a/controls/src/test/java/StateContainerStateMachineTests.java
+++ b/controls/src/test/java/StateContainerStateMachineTests.java
@@ -1,14 +1,12 @@
 package coppercore.controls.test;
 
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Test;
+
 import coppercore.controls.PeriodicStateInterface;
 import coppercore.controls.StateContainer;
 import coppercore.controls.StateMachine;
 import coppercore.controls.StateMachineConfiguration;
-
-import org.junit.jupiter.api.BeforeAll;
-import org.junit.jupiter.api.Test;
-
-import coppercore.controls.StateInterface;
 import coppercore.controls.Transition;
 
 public class StateContainerStateMachineTests {
@@ -75,8 +73,8 @@ public static void setup() {
         stateContainerTestMachineConfig = new StateMachineConfiguration<>();
 
         stateContainerTestMachineConfig
-                .configureDefaultEntryAction((testStateContainer state, Transition transition) -> state.onEntry(transition));
-                .configureDefaultTransitionAction((testStateContainer state, Transition transition) -> state.onEntry(transition));
+                .configureDefaultOnEntryAction((testStateContainer state, Transition transition) -> state.getState().onEntry(transition))
+                .configureDefaultTransitionAction((testStateContainer state, Transition transition) -> state.getState().onEntry(transition));
 
 
         //stateContainerTestMachineConfig