diff --git a/README.md b/README.md
index 54421be222c6dcd7747b24192b68a5e2ef9a8785..4182b3effcb8521721d6d1f839cc97cd4a355cc1 100644
--- a/README.md
+++ b/README.md
@@ -32,6 +32,13 @@ Arguments: Steps to Make, int32_t | Entry Speed, steps/s, uint32_t | Acceleratio
 Returns: Steps Made, int32_t | on step completion
  - the stepper will load this block into its stepping buffer, and if the buffer is empty will execute the trapezoid. on it's completion, the stepper will reply with an acknowledgement
 
+### Step Wait
+
+Keycode: **133**
+Arguments: Steps to Make, int32_t | Entry Speed, steps/s, uint32_t | Acceleration Rate, steps/s/s, uint32_t | Acceleration Length, steps to accelerate for, uint32_t | Decceleration Length, steps to deccelerate after, uint32_t
+Returns: Wait Made, uint8_t *24*
+ - an identical block to the step trapezoid, but with a flag to avoid actually stepping. this is used in motion planning to insert a wait block for a motor with zero steps, to retain packet synchronization
+
 # Reproducing This Work
 
 All automatakit works are open source, and while we cannot sell you boards, if you have an interesting application, get in touch to ask about collaborating.