diff --git a/Firmware/MotorControl/include/Globals.h b/Firmware/MotorControl/include/Globals.h
index 3133d76..89df22d 100644
--- a/Firmware/MotorControl/include/Globals.h
+++ b/Firmware/MotorControl/include/Globals.h
@@ -12,14 +12,14 @@
 #define EGG_LENGTH 50.0
 #define X_DEGREES_PER_MM (X_LIMIT / EGG_LENGTH)
 
-#define STEPS_PER_REVOLUTION 4076
+#define STEPS_PER_REVOLUTION (360/1.8) * 32
 #define DEF_RPM 2
 
-Stepper eggStepper(28, 29, 30, 31, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
-Stepper servoStepper(24, 25, 26, 27, -STEPS_PER_REVOLUTION, X_LIMIT,
+Stepper eggStepper(24, 25, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
+Stepper servoStepper(28, 29, -STEPS_PER_REVOLUTION, X_LIMIT,
                      X_DEGREES_PER_MM);
 
-Pen pen(23, 100, 150);
+Pen pen(23, 100, 180);
 
 float eggStepperDelay;
 float servoStepperDelay;
diff --git a/Firmware/MotorControl/include/Stepper.h b/Firmware/MotorControl/include/Stepper.h
index d77ae4e..726a843 100644
--- a/Firmware/MotorControl/include/Stepper.h
+++ b/Firmware/MotorControl/include/Stepper.h
@@ -4,11 +4,8 @@
 class Stepper {
    private:
     int stepsPerRevolution;
-    unsigned int pin1;
-    unsigned int pin2;
-    unsigned int pin3;
-    unsigned int pin4;
-    unsigned int curStep = 1;
+    unsigned int stepPin;
+    unsigned int dirPin;
     unsigned int remainingSteps;
     float degreesPerMM;
     bool direction;
@@ -18,7 +15,7 @@ class Stepper {
     int limit;
 
    public:
-    Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
+    Stepper(int stepPin, int dirPin, int stepsPerRevolution,
             int limit, float degreesPerMM);
     void step(int steps);
     int getRemainingSteps();
diff --git a/Firmware/MotorControl/src/Stepper.cpp b/Firmware/MotorControl/src/Stepper.cpp
index 9fb3bad..3c2fd63 100644
--- a/Firmware/MotorControl/src/Stepper.cpp
+++ b/Firmware/MotorControl/src/Stepper.cpp
@@ -1,142 +1,23 @@
 #include "Stepper.h"
 #include <Arduino.h>
 
-void Stepper::clockwise() {
-    switch (curStep) {
-        case 1:
-            digitalWrite(pin4, HIGH);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin1, LOW);
-            break;
-        case 2:
-            digitalWrite(pin4, HIGH);
-            digitalWrite(pin3, HIGH);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin1, LOW);
-            break;
-        case 3:
-            digitalWrite(pin4, LOW);
-            digitalWrite(pin3, HIGH);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin1, LOW);
-            break;
-        case 4:
-            digitalWrite(pin4, LOW);
-            digitalWrite(pin3, HIGH);
-            digitalWrite(pin2, HIGH);
-            digitalWrite(pin1, LOW);
-            break;
-        case 5:
-            digitalWrite(pin4, LOW);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin2, HIGH);
-            digitalWrite(pin1, LOW);
-            break;
-        case 6:
-            digitalWrite(pin4, LOW);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin2, HIGH);
-            digitalWrite(pin1, HIGH);
-            break;
-        case 7:
-            digitalWrite(pin4, LOW);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin1, HIGH);
-            break;
-        case 8:
-            digitalWrite(pin4, HIGH);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin1, HIGH);
-    }
-    if (curStep == 8) {
-        curStep = 1;
-    } else {
-        curStep++;
-    }
-}
-
-void Stepper::counterClockwise() {
-    switch (curStep) {
-        case 1:
-            digitalWrite(pin1, HIGH);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin4, LOW);
-            break;
-        case 2:
-            digitalWrite(pin1, HIGH);
-            digitalWrite(pin2, HIGH);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin4, LOW);
-            break;
-        case 3:
-            digitalWrite(pin1, LOW);
-            digitalWrite(pin2, HIGH);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin4, LOW);
-            break;
-        case 4:
-            digitalWrite(pin1, LOW);
-            digitalWrite(pin2, HIGH);
-            digitalWrite(pin3, HIGH);
-            digitalWrite(pin4, LOW);
-            break;
-        case 5:
-            digitalWrite(pin1, LOW);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin3, HIGH);
-            digitalWrite(pin4, LOW);
-            break;
-        case 6:
-            digitalWrite(pin1, LOW);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin3, HIGH);
-            digitalWrite(pin4, HIGH);
-            break;
-        case 7:
-            digitalWrite(pin1, LOW);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin4, HIGH);
-            break;
-        case 8:
-            digitalWrite(pin1, HIGH);
-            digitalWrite(pin2, LOW);
-            digitalWrite(pin3, LOW);
-            digitalWrite(pin4, HIGH);
-    }
-    if (curStep == 8) {
-        curStep = 1;
-    } else {
-        curStep++;
-    }
-}
-
-Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
-                 int limit, float degreesPerMM)
-    : pin1(pin1),
-      pin2(pin2),
-      pin3(pin3),
-      pin4(pin4),
+Stepper::Stepper(int stepPin, int dirPin,
+                 int stepsPerRevolution, int limit, float degreesPerMM)
+    : dirPin(dirPin),
+      stepPin(stepPin),
       stepsPerRevolution(stepsPerRevolution),
       limit(limit),
       degreesPerMM(degreesPerMM) {
-    pinMode(pin1, OUTPUT);
-    pinMode(pin2, OUTPUT);
-    pinMode(pin3, OUTPUT);
-    pinMode(pin4, OUTPUT);
+    pinMode(dirPin, OUTPUT);
+    pinMode(stepPin, OUTPUT);
 }
 
 void Stepper::doStep() {
     if (remainingSteps > 0) {
-        if (direction) {
-            clockwise();
-        } else {
-            counterClockwise();
-        }
+        digitalWrite(dirPin, direction);
+        digitalWrite(stepPin, 1);
+        delayMicroseconds(2);
+        digitalWrite(stepPin, 0);
         remainingSteps--;
     }
 }