Actually this instance the delay works for me because I don't want anything else going on for the set time period. I set it at 10 seconds for testing purposes. In actual implementation the delay will be extended to 30 seconds, which is more than ample time. I need to keep the drive off, and the changes coming in from the control will be less frequent than that. My issue is it will not run after homing when I have an analog input. I tried using the milli() as suggested to see if it would change anything but ended up with the same results. I got the values correct based on my serial reports. I may be missing something particular with this library, I'm not sure.