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How to detect when object stops?

I have a robot that goes on black line. it comes to the manipulator and when robot stops manipulator should move to it and stay upon it. After some time manipulator goes to the initial position. Manipulator has a camera that looks at the line. With camera it detects green color situated on robot. How can I program manipulator to activate when robot stops? I have a friend that made it with an array. Some examples, code.