diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index 3dbc8c6..2312a21 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -15,10 +15,11 @@ bool Idler::Disengage() {
     if (state == Moving)
         return false;
 
+    plannedEngage = false;
+
     if (!Engaged())
         return true;
 
-    plannedEngage = false;
     mm::motion.InitAxis(mm::Idler);
     // plan move to idle position
     // mm::motion.PlanMove(0, idle_position, 0, 1000, 0, 0); // @@TODO
@@ -30,11 +31,12 @@ bool Idler::Engage(uint8_t slot) {
     if (state == Moving)
         return false;
 
+    plannedSlot = slot;
+    plannedEngage = true;
+
     if (Engaged())
         return true;
 
-    plannedSlot = slot;
-    plannedEngage = true;
     mm::motion.InitAxis(mm::Idler);
     // mm::motion.PlanMove(0, slotPositions[slot], 0, 1000, 0, 0); // @@TODO
     state = Moving;
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index d518d4d..59dc9be 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -15,10 +15,11 @@ bool Selector::MoveToSlot(uint8_t slot) {
     if (state == Moving)
         return false;
 
+    plannedSlot = slot;
+
     if (currentSlot == slot)
         return true;
 
-    plannedSlot = slot;
     mm::motion.InitAxis(mm::Selector);
     // mm::motion.PlanMove(1, slotPositions[slot], 0, 1000, 0, 0); // @@TODO
     state = Moving;
diff --git a/tests/unit/logic/cut_filament/test_cut_filament.cpp b/tests/unit/logic/cut_filament/test_cut_filament.cpp
index 6b96038..d0ce989 100644
--- a/tests/unit/logic/cut_filament/test_cut_filament.cpp
+++ b/tests/unit/logic/cut_filament/test_cut_filament.cpp
@@ -49,10 +49,15 @@ TEST_CASE("cut_filament::cut0", "[cut_filament]") {
 
     // idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
     REQUIRE(cf.State() == ProgressCode::FeedingToFinda);
+    // prepare for simulated finda trigger
+    hal::adc::ReinitADC(1, hal::adc::TADCData({ 0, 0, 0, 0, 600, 700, 800, 900 }), 10);
     REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::FeedingToFinda; }, 50000));
 
     // filament fed into FINDA, cutting...
     REQUIRE(cf.State() == ProgressCode::PreparingBlade);
+    REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::PreparingBlade; }, 5000));
+
+    REQUIRE(cf.State() == ProgressCode::EngagingIdler);
     REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::EngagingIdler; }, 5000));
 
     // the idler should be at the active slot @@TODO