diff --git a/main/main.cpp b/main/main.cpp
index 7c00440..b08f210 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -94,9 +94,8 @@ extern "C" void app_main()
 
 #ifdef STEPPER_TEST
     //create task for stepper testing
-    //xTaskCreate(task_stepperCtrlSw, "task stepper control software", configMINIMAL_STACK_SIZE * 3, NULL, configMAX_PRIORITIES - 1, NULL);
     xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
-    xTaskCreate(task_stepper_debug, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
+    //xTaskCreate(task_stepper_debug, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
 #else
     //create task for controlling the machine
     xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 4, NULL);
diff --git a/main/stepper.cpp b/main/stepper.cpp
index 51232e2..b586324 100644
--- a/main/stepper.cpp
+++ b/main/stepper.cpp
@@ -54,57 +54,6 @@ static uint32_t accel_increment = STEPPER_ACCEL_INC;
 
 
 
-//===============================
-//=== software - control task ===
-//===============================
-//stepper driver in software for testing (no timer/interrupt):
-uint64_t stepsTarget = 0;
-void task_stepperCtrlSw(void *pvParameter)
-{
-	uint64_t stepsNow = 0;
-	int increment = 1;
-
-	while(1){
-		int64_t delta = stepsTarget - stepsNow;
-
-		//at position, nothing to do
-		if (delta == 0){
-			ESP_LOGW(TAG, "delta =0 waiting for change");
-			vTaskDelay(300 / portTICK_PERIOD_MS);
-			continue;
-		}
-
-		//define direction
-		if (delta > 0){
-			gpio_set_level(STEPPER_DIR_PIN, 0);
-			increment = 1;
-		} else {
-			gpio_set_level(STEPPER_DIR_PIN, 1);
-			increment = -1;
-		}
-
-		//do one step
-		//note: triggers watchdog at long movements
-		stepsNow += increment;
-		gpio_set_level(STEPPER_STEP_PIN, 1);
-		ets_delay_us(30);
-		gpio_set_level(STEPPER_STEP_PIN, 0);
-		ets_delay_us(90); //speed
-	}
-}
-
-//=================================
-//=== software - set target pos ===
-//=================================
-void stepperSw_setTargetSteps(uint64_t target){
-	stepsTarget = target;
-	char buffer[20];
-	snprintf(buffer, sizeof(buffer), "%" PRIu64, target);
-	ESP_LOGW(TAG, "set target steps to %s", buffer);
-}
-
-
-
 //======================
 //===== DEBUG task =====
 //======================
@@ -137,6 +86,7 @@ void task_stepper_debug(void *pvParameter){
 }
 
 
+
 //=====================
 //===== set speed =====
 //=====================
@@ -147,6 +97,7 @@ void stepper_setSpeed(uint32_t speedMmPerS) {
 }
 
 
+
 //==========================
 //== set target pos STEPS ==
 //==========================
@@ -166,6 +117,7 @@ void stepper_setTargetPosSteps(uint64_t target_steps) {
 }
 
 
+
 //=========================
 //=== set target pos MM ===
 //=========================
diff --git a/main/stepper.hpp b/main/stepper.hpp
index a189cbf..3c1947a 100644
--- a/main/stepper.hpp
+++ b/main/stepper.hpp
@@ -6,10 +6,8 @@ void stepper_init();
 void stepper_setTargetPosSteps(uint64_t steps);
 //set absolute target position in millimeters
 void stepper_setTargetPosMm(uint32_t posMm);
+//set target speed in millimeters per second
+void stepper_setSpeed(uint32_t speedMmPerS);
 
 //task that periodically logs variables for debugging stepper driver
 void task_stepper_debug(void *pvParameter);
-
-//control stepper without timer (software)
-void task_stepperCtrlSw(void *pvParameter);
-void stepperSw_setTargetSteps(uint64_t target);