A system comprising: a stepper motor ; and a controller configured to: measure a parameter associated with a current of the stepper motor prior to commanding a step in connection with the stepper motor, wherein the step corresponds to one of a plurality of steps associated with a full period of rotation of the stepper motor, command the step in connection with the stepper motor, measure the parameter subsequent to commanding the step, wherein the parameter comprises a duty cycle of a pulse width modulation, PWM; compare the measurements of the parameter by comparing the duty cycle of the PWM to a threshold in response to the commanded step, and characterized by the controller being configured to: determine whether a fault exists with respect to the stepper motor based on whether the duty cycle changes in the amount greater than a threshold within a threshold amount of time; and cause a switch from the stepper motor to a second stepper motor responsive to determining that the fault exists with respect to the stepper motor. a stepper motor ; and a controller configured to: measure a parameter associated with a current of the stepper motor prior to commanding a step in connection with the stepper motor, wherein the step corresponds to one of a plurality of steps associated with a full period of rotation of the stepper motor, command the step in connection with the stepper motor, measure the parameter subsequent to commanding the step, wherein the parameter comprises a duty cycle of a pulse width modulation, PWM; compare the measurements of the parameter by comparing the duty cycle of the PWM to a threshold in response to the commanded step, and characterized by the controller being configured to: determine whether a fault exists with respect to the stepper motor based on whether the duty cycle changes in the amount greater than a threshold within a threshold amount of time; and cause a switch from the stepper motor to a second stepper motor responsive to determining that the fault exists with respect to the stepper motor. measure a parameter associated with a current of the stepper motor prior to commanding a step in connection with the stepper motor, wherein the step corresponds to one of a plurality of steps associated with a full period of rotation of the stepper motor, command the step in connection with the stepper motor, measure the parameter subsequent to commanding the step, wherein the parameter comprises a duty cycle of a pulse width modulation, PWM; compare the measurements of the parameter by comparing the duty cycle of the PWM to a threshold in response to the commanded step, and characterized by the controller being configured to: determine whether a fault exists with respect to the stepper motor based on whether the duty cycle changes in the amount greater than a threshold within a threshold amount of time; and cause a switch from the stepper motor to a second stepper motor responsive to determining that the fault exists with respect to the stepper motor. determine whether a fault exists with respect to the stepper motor based on whether the duty cycle changes in the amount greater than a threshold within a threshold amount of time; and cause a switch from the stepper motor to a second stepper motor responsive to determining that the fault exists with respect to the stepper motor. <EOS>