diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 40ccc34..a561fb8 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -12,7 +12,11 @@ class RobotTCP(TcpDevice, Stoppable):
          self.msg_id = 0    
          self.working_mode = "invalid"     
          self.status = "invalid" 
-         self.powered = False    
+         self.powered = None
+         self.settled = None
+         self.empty = None
+         self.working_mode = None
+         self.status = None
     
     def _sendReceive(self, msg_id, msg = ""):        
         tx = self.header if (self.header != None) else  ""
@@ -138,12 +142,7 @@ class RobotTCP(TcpDevice, Stoppable):
         return self.powered
 
     def get_monitor_speed(self):
-        self.powered = self.eval_int("getMonitorSpeed()")
-        return self.powered
-
-    def get_monitor_speed(self):
-        self.powered = self.eval_int("getMonitorSpeed()")
-        return self.powered
+        return self.eval_int("getMonitorSpeed()")
 
     def set_monitor_speed(self, speed):
         ret = self.eval_int("setMonitorSpeed(" + str(speed) + ")")
@@ -193,8 +192,14 @@ class RobotTCP(TcpDevice, Stoppable):
     def resetMotion(self):
         self.evaluate("resetMotion()")
 
-    def wait_end_move(self):
-        self.evaluate("waitEndMove()")
+    def is_empty(self):
+        self.empty = self.eval_bool("isEmpty()")
+        return self.powered
+
+    def is_settled(self):
+        self.settled = self.eval_bool("isSettled()")
+        return self.powered
+        
 
     
     #Updating
@@ -202,6 +207,8 @@ class RobotTCP(TcpDevice, Stoppable):
         self.read_working_mode()
         self.is_powered()
         self.get_monitor_speed()
+        self.is_empty()
+        self.is_settled()
 
     def poll_events(self):
         ev = self.read_event()