   bool verbose=0;
   //int n=0; //counter to monitor if the controller is locked in this loop
   bool keepMoving=1;
-
+  bool axisFinished[numAxes];
+  
+  for (int ii=0; ii<numAxes; ii++){
+    axisFinished[ii]=1;
+  }
+  
   if (verbose){
     Serial.println("Entering while loop in runSteppersToPos()");
   }
+  
   while (keepMoving){
     
     keepMoving=0;

      if (!axisPresent[ii]){
        continue;
      }
      if ((*mySteppers[ii]).distanceToGo() != 0){
         keepMoving=1;         
      } 
    }

    //Motion is a touch faster if we place run code here
    for (int ii=0; ii<numAxes; ii++){
      if (!axisPresent[ii]){
        continue;
      }
      (*mySteppers[ii]).run();

// **  You will need to change the speed and step sizes in this file for your motors **
void moveToTarget(float target[]){
  
 byte verbose=0;
 int ii; //for loop counter
 float intendedMove[numAxes]; //How far to move on each axis. 
 setStep(moveToStepSize);
