I am building a system using a raspberry pi 4 with a waveshare stepper hat that will control two stepper motors on lenses. 1 is an iris which opens according to steps and the other a flap. The flap is just open and close so no issues with the control and movement of the flap stepper but for the iris I attempted to do small steps up to 5800 over 120 seconds but the stepper wouldn’t move enough with steps of about 5 at a time and have experimented and so need to do a burst of say 200 at a time. But still need it to open gradually over the 120 seconds. An approximate 4 second pause should allow for 29 sets of 200 steps.