I think that what Kant teaches about moral reasoning is a good standard to check your motives by. Just like with Christianity you can obey the Lord's teachings because you love HIM or you can obey them out of religious duty or obligation (maybe someone is watching), or you can obey them because you fear before the Lord and or a combination of some or all of them. Then there are still others who will not obey them at all. But the reasons prove the motive. It is best to serve the Lord out of love for then it will NEVER Be in vain!
I love Kant's "Law of Humanity as an end" because we are rational beings worthy of dignity, reverence and respect. "Act in such a way that you always treat humanity, whether in your own person or in the person of any other, never simply as a means, but always at the same time, as an end." or in laymen terms "never having to say your sorry!" Good Stuff!
Catagorical Imperitive/ Duty /Autonomous: do the right thing because it is the right thing to do with no further purpose!
Imperative Hypothetical heteronomous: doing it for selfish motive