Thanks to everyone for the help! After looking over what some of the ideas are, I finally used this as the function I made. I am not certain if the "else" statements are 100% necessary and if it is just easier to have the two "if" statements by themselves since their "then" parts won't execute once each stepping variable is at 0. I figured it would be a good thing to have to make sure that the test in the while loop returns false.
void doublestep (int steps1, int steps2, int dir1, int dir2, int style1, int style2) {
while (steps1 || steps 2) {
if (steps1 > 0) {
motor1.step(1, dir1, style1);
steps1--;
}
else {
steps1 = 0;
}
if (steps2 > 0) {
motor2.step(1, dir2, style2);
steps2--;
}
else {
steps2 = 0;
}
}
}