diff --git a/Arduino rudders stepper/arduino_rudder_stepper/arduino_rudder_stepper.ino b/Arduino rudders stepper/arduino_rudder_stepper/arduino_rudder_stepper.ino
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+++ b/Arduino rudders stepper/arduino_rudder_stepper/arduino_rudder_stepper.ino	
@@ -0,0 +1,80 @@
+/*
+  Button
+
+  Turns on and off a light emitting diode(LED) connected to digital pin 13,
+  when pressing a pushbutton attached to pin 2.
+
+  The circuit:
+  - LED attached from pin 13 to ground through 220 ohm resistor
+  - pushbutton attached to pin 2 from +5V
+  - 10K resistor attached to pin 2 from ground
+
+  - Note: on most Arduinos there is already an LED on the board
+    attached to pin 13.
+
+  created 2005
+  by DojoDave <http://www.0j0.org>
+  modified 30 Aug 2011
+  by Tom Igoe
+
+  This example code is in the public domain.
+
+  https://www.arduino.cc/en/Tutorial/BuiltInExamples/Button
+*/
+
+#include <AccelStepper.h>
+
+// constants won't change. They're used here to set pin numbers:
+const int buttonPin = 14;     // the number of the pushbutton pin
+const int buttonPin2 = 15;
+const int ledPin =  13;      // the number of the LED pin
+int check_stopped = 1;
+
+AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
+
+// variables will change:
+int buttonState1 = 0;         // variable for reading the pushbutton status
+int buttonState2 = 0; 
+
+void setup() {
+  // initialize the LED pin as an output:
+  Serial.begin(115200);
+  pinMode(ledPin, OUTPUT);
+  // initialize the pushbutton pin as an input:
+  pinMode(buttonPin, INPUT_PULLUP);
+  pinMode(buttonPin2, INPUT_PULLUP);
+  stepper.setMaxSpeed(1000);
+}
+
+void loop() {
+  // read the state of the pushbutton value:
+  buttonState1 = digitalRead(buttonPin);
+  buttonState2 = digitalRead(buttonPin2);
+ 
+
+  // check if the pushbutton is pressed. If it is, the buttonState is HIGH:
+  if (buttonState1 ==LOW && buttonState2 == LOW) {
+    Serial.println("Both pressed");
+  }
+  else if (buttonState1 == LOW && buttonState2 == HIGH) {
+    //Serial.println("B2 pressed");
+    //Serial.println(check_stopped);
+    stepper.enableOutputs();
+    check_stopped = 1;
+    stepper.setSpeed(1000);
+    stepper.runSpeed();
+  }
+  else if (buttonState1 == HIGH && buttonState2 == LOW) {
+    check_stopped = 1;
+    //Serial.println("B1 pressed");
+    //Serial.println(check_stopped);
+    stepper.enableOutputs();
+    stepper.setSpeed(-1000);
+    stepper.runSpeed();
+  } 
+  else if (stepper.isRunning()) {
+        stepper.stop();
+        stepper.disableOutputs();
+         stepper.enableOutputs();
+  }
+}
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