//=======================================
void motorDrive() {

		curMicros = micros();
	
		if (mMoves == 0) {
			Serial.print("StartMoveZ");
			mMoves = 1;
			startMoveMicros = curMicros;
			for (byte m = 0; m < motorCount; m++) { // for each of the motors
				motors[m].nxtInterval = curMicros + motors[m].rptInterval;
//				Serial.println(motors[m].nxtInterval);
			}
//			Serial.print("Z");
		}
		else {
//			mMoves++;
//			if (pcData.pcVars.cmdType == 'c') {
//				Serial.print(curMicros - startMoveMicros);
//				Serial.print("  ");
//				Serial.print(motors[0].nxtInterval);
//				Serial.print("Z");
//			}
		  for (byte m = 0; m < motorCount; m++) { // for each of the motors

		    // set the stepPin low if appropriate
		    if (motors[m].pulseHigh && curMicros >= motors[m].nxtLow) {	
		      digitalWrite(motors[m].stepPin, LOW);
		      motors[m].pulseHigh = false;
//		      msteps[m]++;
		    } //  if (micros() - motors[m].lastMicros

		    // is it time to step this motor
		    if ((curMicros >= motors[m].nxtInterval)) { // is it time to step this motor
		      // the PC will have figured out that this step won't happen
		      //   before the previous step is complete
//		      Serial.print("StepTimeZ");
		      digitalWrite(motors[m].stepPin, HIGH);
		      motors[m].pulseHigh = true;
		      motors[m].lastMicros = micros();
		      motors[m].nxtLow = motors[m].nxtInterval + pulseWidth; //motors[m].rptInterval / 2;
		      motors[m].nxtInterval += motors[m].rptInterval;
					msteps[m]++;
		    } // if (countVal % motors[m].rptInterval == 0)
		  } // for (byte m = 0;

		  if (curMicros - startMoveMicros > moveTotalMicros) { // i.e. this movement is complete
		  
		  	for (byte m = 0; m < motorCount; m++) { // for each of the motors
		  		digitalWrite(motors[m].stepPin, LOW);
		  		motors[m].pulseHigh = false;
		  	}
		  	
//		  	Serial.print("Movement CompleteZ");
//		  	Serial.print("MSTEPS ");
//		  	Serial.print(msteps[0]);
//		  	Serial.print(" ");
//		  	Serial.println(msteps[1]);
//		  	Serial.print("Curmicros1 ");
//		  	Serial.println(curMicros1);
//		  	Serial.println(scndMicros);
//		  	Serial.print(mMoves);
//		  	Serial.print("Z");
		  	countVal = 0;
		  	mMoves = 0;
		    countInProgress = false;
		    getLineFromPC();
		    Serial.print("Data requested after moveZ");
		  }
//    unsigned long endMicros = micros();
//    Serial.print("Move Loop ");
//    Serial.print(endMicros - startMicros);
//    Serial.print("Z");
	}
}