     command.pin = stepPin;
     command.times = amount;
   }
+
+  void updateLoop() {
+    if(update) {
+      if(incr < command.times) {
+        // Alternate
+        dw(stepPin, HIGH);
+        delay(1);
+        dw(stepPin, LOW);
+
+        // Add one to increment
+        ++incr;
+      } else {
+        update = false;
+        incr = 0;
+      }
+    }
+  }
 };
 
 

 * functions - one for each stepper.
 */
class Stepper {
 public:
  int stepPin;
  int dirPin;
  int enablePin;
  int minPin;
  int maxPin;
  bool update;
  Command command;
  int incr;

  Stepper(int stepPinIn, int dirPinIn, int enablePinIn,
          int minPinIn, int maxPinIn) {
    stepPin = stepPinIn;

  // Print welcome message
  Serial.println("miscr v0.1 [enter \"?\" for commands and \"$\" for status]\n");

  // Initialise motors
  sX.begin();
  //sY.begin();
}

void loop() {
  getSerialInput();
  sX.updateLoop();
}
