diff --git a/darkwater/DW640.cpp b/darkwater/DW640.cpp
index e9052c4..9e8a670 100644
--- a/darkwater/DW640.cpp
+++ b/darkwater/DW640.cpp
@@ -29,6 +29,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "DW640.h"
 
+#if (MICROSTEPS == 8)
+uint8_t microstepcurve[] = {0, 50, 98, 142, 180, 212, 236, 250, 255};
+#elif (MICROSTEPS == 16)
+uint8_t microstepcurve[] = {0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};
+#endif
+
 /** PCA9685 constructor.
  * @param address I2C address
  * @see DW640_DEFAULT_ADDRESS
@@ -276,6 +282,50 @@ DW_Servo *DW640::getServo(uint8_t servo) {
 
 }
 
+DW_Stepper *DW640::getStepper(uint16_t steps, uint8_t stepper) {
+
+  	num--;
+
+  	uint8_t ain1, ain2, bin1, bin2;
+  
+  	// Get the stepper
+	switch(stepper) {
+		case 0:
+				ain1 = 2;
+				ain2 = 3;
+				bin1 = 4;
+				bin2 = 5;
+				break;
+		case 1:
+				ain1 = 6;
+				ain2 = 7;
+				bin1 = 8;
+				bin2 = 9;
+				break;
+		case 2:
+				ain1 = 10;
+				ain2 = 11;
+				bin1 = 12;
+				bin2 = 13;
+				break;
+		default:
+				fprintf(stderr, "Stepper number must be between 1 and 3 inclusive");
+	}
+
+	if (steppers[stepper].stepper == 0) {
+		// not init'd yet!
+		steppers[stepper].stepper = stepper;
+		steppers[stepper].revsteps = steps;
+		steppers[stepper].MC = this;
+
+		steppers[stepper].AIN1pin = ain1;
+		steppers[stepper].AIN2pin = ain2;
+		steppers[stepper].BIN1pin = bin1;
+		steppers[stepper].BIN2pin = bin2;
+	}
+	return &steppers[stepper];
+}
+
 /* Motors code */
 
 DW_Motor::DW_Motor(void) {
diff --git a/darkwater/DW640.h b/darkwater/DW640.h
index b7c62ca..c67e537 100644
--- a/darkwater/DW640.h
+++ b/darkwater/DW640.h
@@ -57,6 +57,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define DW_ININ                   0
 #define DW_PHASE                  1
 
+#define MICROSTEPS 16         // 8 or 16
+
 using namespace DarkWater;
 
 class DW640;
@@ -95,6 +97,27 @@ class DW_Servo {
 
 };
 
+class DW_Stepper {
+    public:
+        DW_Stepper(void);
+        friend class DW640;
+
+        void off(void);
+        void setMotorSpeed(uint16_t speed);
+        uint8_t onestep(uint8_t dir, uint8_t style);
+        void step(uint16_t steps, uint8_t dir,  uint8_t style = DW_SINGLE);
+        uint32_t usperstep;
+
+    private:
+        uint8_t AIN1pin, AIN2pin;
+        uint8_t BIN1pin, BIN2pin;
+        uint16_t revsteps; // # steps per revolution
+        uint8_t currentstep;
+        uint8_t stepper;
+        DW640 *DWC;
+
+};
+
 class DW640 {
     public:
         DW640(uint8_t address = DW640_DEFAULT_ADDRESS);
@@ -124,7 +147,8 @@ class DW640 {
         void allOff();
 
         DW_Motor *getMotor(uint8_t motor);
-        DW_Servo *getServo(uint8_t servo);        
+        DW_Servo *getServo(uint8_t servo);      
+        DW_Stepper *getStepper(uint16_t steps, uint8_t stepper);  
 
         // void setStepperOff(uint8_t stepper);
         // void setStepperSpeed(uint8_t stepper, uint16_t speed);
@@ -140,17 +164,8 @@ class DW640 {
 
         DW_Motor motors[6];
         DW_Servo servos[2];
-
-        uint16_t revsteps; // # steps per revolution
-        uint8_t currentstep;
-
-        
-
+        DW_Stepper steppers[3];
 
 };
 
-// class DW_Stepper {
-
-// }
-
 #endif // DW640_H
\ No newline at end of file