diff --git a/gaugemqttcontinuous.py b/gaugemqttcontinuous.py
index c9783ef..92302c0 100644
--- a/gaugemqttcontinuous.py
+++ b/gaugemqttcontinuous.py
@@ -881,6 +881,7 @@ def main():
     now = 0
 
     while True:
+        was_moving = False
         try:
             now = utime.ticks_ms()
 
@@ -902,11 +903,15 @@ def main():
                     for _ in range(abs(steps_to_move)):
                         g.step(direction)
                     moved_any = True
+                    was_moving = True
 
             if moved_any:
                 delay_us = 1_000_000 // MICROSTEPS_PER_SECOND
                 utime.sleep_us(delay_us)
             else:
+                if was_moving:
+                    publish_state(client_ref)
+                    was_moving = False
                 utime.sleep_ms(10)
 
             if utime.ticks_diff(utime.ticks_ms(), last_heartbeat) > 10000: