diff --git a/lib/elevator/communicator.ex b/lib/elevator/communicator.ex
index b613850..c02c917 100644
--- a/lib/elevator/communicator.ex
+++ b/lib/elevator/communicator.ex
@@ -102,7 +102,7 @@ defmodule Elevator.Communicator do
   # Delete node from status map on disconnect
   @impl true
   def handle_info({:nodedown, node}, peer_status_map) do
-    {:noreply, %{peer_status_map | connected_nodes: Map.delete(peer_status_map, node)}}
+    {:noreply, Map.delete(peer_status_map, node)}
   end
 
   # Calls --------------------------------------------------
diff --git a/lib/elevator/fsm/state.ex b/lib/elevator/fsm/state.ex
index 4fc5ecb..91b7278 100644
--- a/lib/elevator/fsm/state.ex
+++ b/lib/elevator/fsm/state.ex
@@ -10,7 +10,7 @@ defmodule Elevator.FSM.State do
   defstruct behavior: :moving,
             between_floors: true,
             direction: :down,
-            door_open_time_ms: Time.utc_now(),
+            door_open_time: Time.utc_now(),
             floor: :unknown,
             last_floor_time: Time.utc_now(),
             motor_timed_out: false,
@@ -26,7 +26,7 @@ defmodule Elevator.FSM.State do
           between_floors: boolean(),
           obstructed: boolean(),
           motor_timed_out: boolean(),
-          door_open_time_ms: Time.t(),
+          door_open_time: Time.t(),
           last_floor_time: Time.t()
         }
 
@@ -85,15 +85,16 @@ defmodule Elevator.FSM.State do
   # Casts --------------------------------------------------
 
   @impl true
-  def handle_cast({:set_floor, floor}, state) do
+  def handle_cast({:set_floor, new_floor}, state) do
     new_state =
-      case floor do
+      case new_floor do
         :between_floors ->
           %{state | between_floors: true}
 
-        _ ->
-          %{state | between_floors: false, floor: floor, last_floor_time: Time.utc_now()}
+        floor ->
+          %{state | between_floors: false, floor: floor}
       end
+      |> detect_and_update_last_floor_time(state)
 
     {:noreply, new_state}
   end
@@ -111,7 +112,11 @@ defmodule Elevator.FSM.State do
 
   @impl true
   def handle_cast({:set_behavior, behavior}, state) do
-    {:noreply, %{state | behavior: behavior}}
+    new_state =
+      %{state | behavior: behavior}
+      |> detect_and_update_last_floor_time(state)
+
+    {:noreply, new_state}
   end
 
   @impl true
@@ -120,7 +125,7 @@ defmodule Elevator.FSM.State do
       if state.between_floors do
         state
       else
-        %{state | behavior: :door_open, door_open_time_ms: Time.utc_now()}
+        %{state | behavior: :door_open, door_open_time: Time.utc_now()}
       end
 
     {:noreply, new_state}
@@ -143,4 +148,14 @@ defmodule Elevator.FSM.State do
   def handle_call(:operational?, _from, state) do
     {:reply, not (state.motor_timed_out or state.obstructed), state}
   end
+
+  @spec detect_and_update_last_floor_time(t(), t()) :: t()
+  defp detect_and_update_last_floor_time(new_state, old_state) do
+    if old_state.between_floors != new_state.between_floors or
+         (old_state.behavior != :moving and new_state.behavior == :moving) do
+      %{new_state | last_floor_time: Time.utc_now()}
+    else
+      new_state
+    end
+  end
 end
diff --git a/lib/elevator/fsm/transition.ex b/lib/elevator/fsm/transition.ex
index 29dc200..bfc7411 100644
--- a/lib/elevator/fsm/transition.ex
+++ b/lib/elevator/fsm/transition.ex
@@ -149,13 +149,16 @@ defmodule Elevator.FSM.Transition do
   defp decide_and_update_state(_state, _orders), do: :ok
 
   defp check_motor_timeout(state) do
-    timed_out = Time.diff(Time.utc_now(), state.last_floor_time, :millisecond) > @motor_timeout_ms
+    timed_out =
+      state.behavior == :moving and
+        Time.diff(Time.utc_now(), state.last_floor_time, :millisecond) > @motor_timeout_ms
+
     State.set_motor_timed_out(timed_out)
   end
 
   defp check_door_timer(state) when state.behavior == :door_open do
     timed_out =
-      Time.diff(Time.utc_now(), state.door_open_time_ms, :millisecond) >
+      Time.diff(Time.utc_now(), state.door_open_time, :millisecond) >
         Elevator.door_open_duration_ms()
 
     cond do
diff --git a/lib/elevator/hall_orders.ex b/lib/elevator/hall_orders.ex
index 21637c3..78f0400 100644
--- a/lib/elevator/hall_orders.ex
+++ b/lib/elevator/hall_orders.ex
@@ -106,11 +106,11 @@ defmodule Elevator.HallOrders do
 
   @impl true
   def handle_call(:get_handling_orders, _from, order_map) do
-    confirmed_orders =
+    handling_orders =
       Enum.filter(order_map, &match?({_, {:handling, _}}, &1))
       |> orders_by_floor()
 
-    {:reply, confirmed_orders, order_map}
+    {:reply, handling_orders, order_map}
   end
 
   @impl true
@@ -184,7 +184,7 @@ defmodule Elevator.HallOrders do
 
   # Return the orders where we have the lowest cost among serving nodes.
   # Only consider orders where all serving nodes have a cost.
-  @spec my_orders_from_order_map(hall_order_map()) :: %{floor() => MapSet.t(hall_button())}
+  @spec my_orders_from_order_map(hall_order_map()) :: %{floor() => MapSet.t(hall_button_type())}
   defp my_orders_from_order_map(order_map) do
     who_can_serve = Communicator.who_can_serve()
 
diff --git a/lib/elevator/hall_orders/cost.ex b/lib/elevator/hall_orders/cost.ex
index 4ef4722..9367fd6 100644
--- a/lib/elevator/hall_orders/cost.ex
+++ b/lib/elevator/hall_orders/cost.ex
@@ -16,7 +16,7 @@ defmodule Elevator.HallOrders.Cost do
   @type cost_map :: Elevator.HallOrders.hall_order_cost_map()
 
   @doc """
-  Comupte the cost (time to serve) of a candidate hall order by simulating single elevator logic.
+  Compute the cost (time to serve) of a candidate hall order by simulating single elevator logic.
   """
   @spec compute_cost({floor(), hall_button_type()}, %{floor() => MapSet.t(hall_button_type())}) ::
           non_neg_integer()
@@ -53,7 +53,7 @@ defmodule Elevator.HallOrders.Cost do
   Returns if we are supposed to take the order given the cost map.
   Assumes who_can_serve is a subset of cost_map keys.
   """
-  @spec assigned_to_me?(cost_map(), MapSet.t(node())) :: node()
+  @spec assigned_to_me?(cost_map(), MapSet.t(node())) :: boolean()
   def assigned_to_me?(cost_map, who_can_serve) do
     {min_node, _} =
       Enum.filter(cost_map, fn {node, _} -> MapSet.member?(who_can_serve, node) end)
diff --git a/lib/elevator/hall_orders/order.ex b/lib/elevator/hall_orders/order.ex
index 1d7b347..6deee3f 100644
--- a/lib/elevator/hall_orders/order.ex
+++ b/lib/elevator/hall_orders/order.ex
@@ -57,6 +57,7 @@ defmodule Elevator.HallOrders.Order do
 
   def update_from_button_press(order_state), do: order_state
 
+  @spec update_from_button_press(hall_order_state()) :: hall_order_state()
   def update_from_arrived_at_floor({:handling, _}) do
     ensure_self_in_barriers({:arrived, MapSet.new()})
   end
diff --git a/lib/elevator/hardware/outputs.ex b/lib/elevator/hardware/outputs.ex
index 749bef1..5580a0c 100644
--- a/lib/elevator/hardware/outputs.ex
+++ b/lib/elevator/hardware/outputs.ex
@@ -14,12 +14,13 @@ defmodule Elevator.Hardware.Outputs do
     Driver.set_motor_direction(:stop)
   end
 
-  @spec set_outputs(FSM.State.t(), Elevator.OrderUtils.combined_order_map()) :: any()
+  @spec set_outputs(FSM.State.t(), Elevator.OrderUtils.combined_order_map()) :: :ok
   def set_outputs(state, light_orders) do
     set_door_light(state)
     set_motors(state)
     set_floor_light(state)
     set_order_lights(light_orders)
+    :ok
   end
 
   defp set_motors(elevator_state) do
diff --git a/lib/elevator/order_utils.ex b/lib/elevator/order_utils.ex
index 98212c0..0b7c6bb 100644
--- a/lib/elevator/order_utils.ex
+++ b/lib/elevator/order_utils.ex
@@ -10,13 +10,13 @@ defmodule Elevator.OrderUtils do
         }
 
   @spec orders_above?(combined_order_map(), Elevator.floor()) :: boolean()
-  def orders_above?(reqs, floor) do
-    Enum.any?(reqs, fn {f, _} -> f > floor end)
+  def orders_above?(orders, floor) do
+    Enum.any?(orders, fn {f, _} -> f > floor end)
   end
 
   @spec orders_below?(combined_order_map(), Elevator.floor()) :: boolean()
-  def orders_below?(reqs, floor) do
-    Enum.any?(reqs, fn {f, _} -> f < floor end)
+  def orders_below?(orders, floor) do
+    Enum.any?(orders, fn {f, _} -> f < floor end)
   end
 
   @spec combine_hall_and_cab(