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How can I tell if the motor has stopped moving?

If a controller is outputting pulses, thus moving the motor, it will be shown in the MST command. The MST command will respond with the current status of the controller. The first three bits of the response will let you determine if the motor is moving or not. See below for the meaning of the first three bit of the MST command:

 

Bit 0: Motor is moving at constant speed

Bit 1: Motor is accelerating

Bit 2: Motor is decelerating

 

Therefore, the following pseudo-code will demonstrate how to check if the motor is moving and ready to accept another move command:

//MOVE command sent to the controller

WHILE (MST&7 != 0) {

//LOOP until MST is cleared

}

//MOVE command sent to the motor

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