OK OVER ALL stepping each motor only 1 step then the other and blocking is going to leave me with 1000 lines of code to make my robot move 2 feet so the for loop as you put it will fix that right ? i have not used a for loop soo not sure how i would apply it could some one give me and example of cupple move ments on with the for loop like 2 at once then one in revers and other forward ? then if i see how the loop should be set up i could probly figuer it out from there i just dont know how to set up all the camands yet and c code does not make sence to me reading it .. jermmy blums you tube has helped me thus far .. smart guy props to you all .. ! thanks for any help and im sorry i dident know what you ment the first time @ Pual