Thank you for the clarity, I will take a look at the motor velocity, position readbacks

Thanks, this feels fairly similar to what I was doing - but I did stub my toe on the fact that the duty cycle starts at effectively zero, so when you set a demand position, immediately after the call the duty cycle is _still_ zero until things start moving - would need to add a short delay which fel...

I have been fiddling with a number of different ways to control a motor on DCC1100, but I can't find a way to say that the motor is still "busy" - obviously I can compare the current position with the demand etc. but that is slightly messy as it will always seem to end up one or two counts...