     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;

 * for helping me writing this function!
 */
bool parseGCode(String in) {
  int xindex = getIndex('X', in);
  //int yindex = getIndex('Y', in);

  if(xindex != -1 && xindex != -2) sX.testSpin(true, xindex);
  else Serial.println("getIndex::: x-error " + xindex);

  //if(yindex != -1 && yindex != -2) sY.testSpin(true, yindex);
  //else Serial.println("getIndex::: y-error " + yindex);
}

String serialStr = "";
