Here is the library at a "workable" state. It implements all(*) commands and has a simple command-line tool to move and check Vin and position.
(*) Unfortunately, I am unable to make the MOVE_TIME_WAIT_WRITE, MOVE_TIME_WAIT_READ, MOVE_START and MOVE_STOP commands to work, it seems like they are not implemented? or maybe documentation is deprecated.. Not sure.