diff --git a/Firmware/EggbotWireless/include/Globals.h b/Firmware/EggbotWireless/include/Globals.h
index 9bba016..76a8913 100644
--- a/Firmware/EggbotWireless/include/Globals.h
+++ b/Firmware/EggbotWireless/include/Globals.h
@@ -10,10 +10,10 @@
 #define STEPS_PER_REVOLUTION 4076
 #define DEF_RPM 2
 
-Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION, 10, 0,
+Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION, 20, 0,
                    Y_DEGREES_PER_MM, typeBoth, false);
-Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, 10, X_LIMIT,
-                     X_DEGREES_PER_MM, typeClockwise, true);
+Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, 20, X_LIMIT,
+                     X_DEGREES_PER_MM, typeClockwise, false);
 
 StepperTimer eggStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION);
 StepperTimer servoStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION);
diff --git a/Firmware/EggbotWireless/src/Stepper.cpp b/Firmware/EggbotWireless/src/Stepper.cpp
index 9c13f23..f0c2ec2 100644
--- a/Firmware/EggbotWireless/src/Stepper.cpp
+++ b/Firmware/EggbotWireless/src/Stepper.cpp
@@ -163,8 +163,6 @@ void Stepper::step(int steps) {
                 backlashComp == typeBoth) {
                 remainingSteps += backlashSteps;
             }
-
-            remainingSteps += backlashSteps;
         }
         direction = false;
         remainingSteps += abs(steps);