Abstract: Method and apparatus for controlling a stepping motor by storing in a memory, delay time values for the application of motor advance pulses and using motor feedback pulses to access the memory and read out corresponding time delay values after each of which a motor advance pulse is to be generated. The stored time delay values are optimized as to phase angle for the motor advance pulses for acceleration, constant run and deceleration modes of the motor after consideration of motor characteristics and load. Not all feedback pulses have a corresponding time delay value and certain feedback pulses may have two or more time delay values stored therefor. Also disclosed are improved motor coil switching circuits.