diff --git a/src/src/extras/extras.ino b/src/src/extras/extras.ino
index 36f66bc..da92fc2 100644
--- a/src/src/extras/extras.ino
+++ b/src/src/extras/extras.ino
@@ -28,33 +28,45 @@
 // This is a placeholder .ino file that allows you to easily edit the contents of this files using the Arduino IDE,
 // as well as compile and test from this point.  This file is ignored when the library is included in other sketches.
 
-#include "Stepper_TB6612.h"
-#include "Stepper_A3967.h"
+#include "Stepper_TB6612.h"   // include the driver for a TB6612 chip
 
-StepperControl *motor;
+StepperControl *motor;        // create a global pointer to StepperControl so it can be accessed in both setup() and loop()
 
-////////////////////////////////////
+///////////////////
 
 void setup() {
 
   Serial.begin(115200);
   delay(1000);
-  Serial.printf("\nHomeSpan Steppers\n\n");
+  Serial.printf("\nHomeSpan Stepper Control\n\n");
 
-//  motor=new Stepper_TB6612(23,32,22,14,33,27,{1,1});
-  motor=new Stepper_TB6612(23,32,22,14);
+  motor=new Stepper_TB6612(23,32,22,14,33,27);      // instantiate the motor object (with PWM pins 33 and 27 specified)
 
-  motor->setStepType(StepperControl::FULL_STEP_ONE_PHASE);
-  motor->setAccel(10,20); 
-  motor->move(200,5);
+  motor->setStepType(StepperControl::HALF_STEP);    // set the mode to half-step, which means 400 steps are needed for a complete revolution for a 200-step motor
+  motor->setAccel(10,20);                           // add acceleration parameters of 10x spread of 20 steps
+
+  Serial.printf("Moving motor 400 steps and waiting until motor stops...\n");
+  
+  motor->move(-400,5);              // move the motor -400 steps (1 revolution), with 2ms between steps.
+  while(motor->stepsRemaining());   // wait until there no remaining steps
+
+  Serial.printf("Moving motor to absolute position of +1200 (reversing a total of 1600 steps, or 4 revolutions) without waiting...\n");
+  
+  motor->moveTo(1200,2,StepperControl::BRAKE);    // move the motor to an absolute position of 1200 steps with 3ms between steps; enter brake state when done
+
+  // Motor will continue moving in background even once setup() exits and loop() below starts
 }
 
-//////////////////////////////////////
+///////////////////
 
 void loop(){
+  
+  Serial.printf("Motor has %d remaining steps\n",motor->stepsRemaining());
+  
+  delay(1000);      // motor is unaffected by delay()
+  
+  if(motor->position()==1200){
+    Serial.printf("Motor has reached final position and is now stopped.\n");
+    while(1);
+  }
 }
-
-//////////////////////////////////////
-
-
-//////////////////////////