         case 'E': {
             out.print(F("\t motor is enabled: "));
             bool isEnabled;
-            // isEnabled = mosys::motor.isEnabled();
+            isEnabled = myStepperMotor.isEnabled();
             if(isEnabled) {
                 out.print(F("en"));
             } else {

        //------------------------------------------
        case 'm': {
            out.print(F("\t motor moveTo "));
            uint32_t position = atoi(&command[1]);
            // mosys::motor.moveTo(position);
            out.print(position);
            out.println();
        } break;
        case 'M': {
            out.print(F("\t motor get target:"));
            // uint32_t position = mosys::motor.getTarget();
            // if(position == mosys::motor.forwardLimit){
            //     out.print(F("forwardLimit"));
            // } else {
            //     if(position == mosys::motor.reverseLimit){
            //         out.print(F("reverseLimit"));
            //     } else {
            //         out.print(position);
            //     }
            // }
            out.println();
        } break;
        case 'p': {
            out.print(F("\t motor set position "));
            uint32_t position = atoi(&command[1]);
            // mosys::motor.setPos(position);
            out.print(position);
            out.println();
        } break;
        case 'P': {
            out.print(F("\t motor position: "));
            uint32_t position;
            // position = mosys::motor.getPos();
            out.print(position);
            out.println();
        } break;
        case 'l': {
            out.print(F("\t motor set limits:"));
            out.println();
            // uint16_t distLimit = // mosys::motor.fullStepVal * 200
            // // mosys::motor.forwardLimit = distLimit;
            // // mosys::motor.reverseLimit = -distLimit;
            // get first limit
            int32_t limit_forward = atol(&command[1]);
            // mosys::motor.forwardLimit = limit_forward;
            // defaults to negative of limit_forward
            int32_t limit_reverse = limit_forward * -1;


                out.print(F("\t   --> no second parameter given. used negative first."));
                out.println();
            }
            myStepperMotor.reverseLimit = limit_reverse;

            // print current/new limits
            out.print(F("\t   forwardLimit: "));
            out.print(myStepperMotor.forwardLimit);
            out.println();
            out.print(F("\t   reverseLimit: "));
            out.print(myStepperMotor.reverseLimit);
            out.println();
        } break;
        case 'L': {
            out.print(F("\t motor limits: "));
            out.println();
            out.print(F("\t   forwardLimit: "));
            out.print(myStepperMotor.forwardLimit);
            out.println();
            out.print(F("\t   reverseLimit: "));
            out.print(myStepperMotor.reverseLimit);
            out.println();
        } break;
        //------------------------------------------
        case 'D': {
            out.print(F("\t motor stop "));
            myStepperMotor.stop();
            out.println();
        } break;
        case 'd': {
            out.print(F("\t motor decelerate "));
            myStepperMotor.decelerate();
            out.println();
        } break;
        case 'r': {
            out.print(F("\t motor run forward "));
            myStepperMotor.moveTo(myStepperMotor.forwardLimit);
            out.println();
        } break;
        case 'R': {
            out.print(F("\t motor run reverse "));
            myStepperMotor.moveTo(myStepperMotor.reverseLimit);
            out.println();
        } break;
        //---------------------------------------------------------------------
