Hi Miguel,
I am using stepper motors which are run by Arduino+drivers (A4988 for DEC and old motor shield for RA), no encoders.  I chose to send number of steps instead of time (I can change goto speed on fly). I think you can modify your INO and/or driver file to make Arduino start movement and stop it after some time. You would need to calculate how much time is needed to move and maybe change driver code to send time required instead of steps (basically you can make Arduino translate number of steps to time if you don't want to modify driver file) .Hope it helps.

Regards
Topaz

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