Hello, thank you for your response. I did what you said about the initial position on setup and it worked, but when I try to use the code for the simple stepper program using the millis() the motor did not move, it got power but didn't do the steps. I tried to change the millisBetweenSteps, and also put a delay after calling the function like you suggested, but the motors didn't move. Do you know why this might be happening? Thank you again