Not sure I included the code in the post to run 2 motors at once.  How did you modify it Chris?

I don't think my code is compatible with A4983.  Try it with ULN2003.

Just download my code from Gist.  Try one function call at a time in Loop() until you get the hang of it.

Sorry I didn't realize it wasn't a public forum.  Here's the code to show how easy it is on Electric Imp:

Agent:
function sendTwilio(){
local response =
http.post("https://api.twilio.com/2010-04-01/Accounts/ACae249c17f97/Calls.json",
{"Authorization":"Basic QUNhZTI0OWM4OWYwZjA4NDg2OTBjOTRhN"},
"From=%2B18055551212&To=%2B18055551313&ApplicationSid=AP5714e4d49").sendsync();
if(response.statuscode==201) server.log("Calling soon");
else {
server.log(response.statuscode);
server.log(response.body);
} }
device.on("sendit",function(s) {
sendTwilio();
} );

function mywebserver(request,res){
t<-http.urldecode(request.body);
device.send("sendbody",t.TranscriptionText); //speak.xml
res.send(200,"okay");
}
http.onrequest(mywebserver);
server.log("Start Agent");

Device:
imp.configure("Call1", [], []);
agent.on("sendbody",function(value){
server.log(value);
});
agent.send("sendit","notused");

//All you need to setup is line 3,4,5
//Account ID, authorization Base64, From, To, App ID
//The App can run any Twiml script you like:

<?xml version="1.0" encoding="UTF-8"?>
<Response>
<Say voice="woman" language="fr">
Please leave a message BEFORE the tone.</Say>
<Record maxLength="20" action="x"
transcribeCallback="https://agent.electricimp.com/o0oLaaaa&quot; />
</Response>

I already wrote 4 related functions that are non-blocking can you find them?

I've done this with Electric Imp.  Only a few lines of code.

http://forums.electricimp.com/discussion/937/speak-to-your-imp-over-the-phone#Item_10

Nice use of Arduino!  Couldn't make it thru the story...

I have done this with Arduino.  It is possible using
http://electricimp.com/product

With only 5 lines of code...

Unless they are geared 64:1.  Then they have 64x the torque at a slow speed.

I have some code that works for 3 steppers that is non-blocking.  I didn't include it here because it is much harder to understand.  Let me know if you want some help?

I guess nobody wants to rotate exactly 1 revolution...

www.yourduino.com is the best value!

More about Hardware:
http://electricimp.com/developers/hardware.php

Only $20 now!  0.85 for Host board.

Great minds think alike!  But we achieve our goals in a totally different way.

You can do this without leaving your PC on.  You can have it call you and do voice recognition over the phone. 
Only 30 lines of code and 10 minutes to put it together.  No cost like Bitvoice has.
Now if only I could make this work with Arduino...

http://arduino.cc/forum/index.php/topic,158357.0.html

It is no problem to sample at 40khz with Arduino.  Average every 2 sample gives you a high cutoff filter.

The electric Imp is the size of an SD card.  It will call me on the phone and wait for a verbal response.  When I speak to it the number or text is transcribed then sent back to the tiny module for processing.  I've got this working on Electric Imp today.  Only 30 lines of code.  10 minutes of my time!

http://electricimp.com/product/

How hard do you think it would be to do on an Arduino with Wifly?
Is it possible?  How do you configure the router to receive incoming HTTP requests?

function sendTwilio(){
local response =
http.post("https://api.twilio.com/2010-04-01/Accounts/ACae249c17f97/Calls.json",
{"Authorization":"Basic QUNhZTI0OWM4OWYwZjA4NDg2OTBjOTRhN"},
"From=%2B18055551212&To=%2B18055551313&ApplicationSid=AP5714e4d49").sendsync();
if(response.statuscode==201) server.log("Calling soon");
else {
server.log(response.statuscode);
server.log(response.body);
} }
device.on("sendit",function(s) {
sendTwilio();
} );
function mywebserver(request,res){
t<-http.urldecode(request.body);
device.send("sendbody",t.TranscriptionText);  //speak.xml
res.send(200,"okay");
}
http.onrequest(mywebserver);
server.log("Start Agent");

imp.configure("Call1", [], []);
agent.on("sendbody",function(value){
server.log(value);
});
agent.send("sendit","notused");

Twiml script:
<?xml version="1.0" encoding="UTF-8"?>
<Response>
<Say voice="woman" language="fr">
Please leave a message BEFORE the tone.</Say>
<Record maxLength="20" action="x"
transcribeCallback="https://agent.electricimp.com/3b4Laaaa" />
</Response>