diff --git a/darkwater/DW640.cpp b/darkwater/DW640.cpp
index 3b87ec4..74996bc 100644
--- a/darkwater/DW640.cpp
+++ b/darkwater/DW640.cpp
@@ -282,7 +282,7 @@ DW_Servo *DW640::getServo(uint8_t servo) {
 
 }
 
-DW_Stepper *DW640::getStepper(uint16_t steps, uint8_t stepper) {
+DW_Stepper *DW640::getStepper(uint8_t stepper, uint16_t steps) {
 
   	num--;
 
@@ -451,7 +451,7 @@ void DW_Stepper::step(uint16_t steps, uint8_t dir,  uint8_t style) {
 
   	while (steps--) {
     	ret = onestep(dir, style);
-    	delayMicroseconds(uspers);
+    	usleep(uspers);
   	}
 }
 
diff --git a/darkwater/DW640.h b/darkwater/DW640.h
index 24f0efa..833e4bb 100644
--- a/darkwater/DW640.h
+++ b/darkwater/DW640.h
@@ -148,7 +148,7 @@ class DW640 {
 
         DW_Motor *getMotor(uint8_t motor);
         DW_Servo *getServo(uint8_t servo);      
-        DW_Stepper *getStepper(uint16_t steps, uint8_t stepper);  
+        DW_Stepper *getStepper(uint8_t stepper, uint16_t steps = 48);  
 
      private:
         uint8_t devAddr;