The steppers motors are from Oriental Motors and came with a matching driver (model AR46AA-3). These are small motors with only 42 oz-in holding torque, just barely enough for this application, but they are industrial quality hardware and I had the chance to test them. These particular stepper motors have encoders which the drivers use to achieve a servo like behavior. Missed steps are noticed and the drive does all it can to get motor to obtained correct position. The drives are also convenient to integrate because they take 120VAC directly, proving a great torque curve, and eliminating the need for large DC power supplies common with stepper motors. A test jig was made to hold the motors, drives, breakouts, fused shutoff, and an Arduino Mega while setting the software up.