n a nutshell, yes you need to take a hydro reading today, another in 2 days, and a third the day after that. if they are all identical, then its ready to be racked to secondary.
you want fermentation to be 99% completed (if not 100%) when you rack to secondary, or especially if you're gonna bottle directly from primary (in which case you normally leave it in primary for 3 weeks, then rack to bottle bucket, add priming sugar, and bottle.)
Primary: English Mild
On tap: Pale Ale, Lancelot's Wheat, English Brown Ale, Steam Beer, HoovNuts IPA
Bottled: MOAM, Braggot, Raspberry Melomel, Merlot, Apfelwein, Pyment, Sweet mead, Cabernet
Gal in 2009: 27, Gal in 2010: 34, Gal in 2011: 13, Gal in 2012: 10