Maybe this will help you. You can use ets_delay_us(stepper_delay); between steps. But, for example, every step 50 execute vTaskDelay(1); or you can disable wtd in stepper task esp_task_wdt_delete(NULL); esp_task_wdt_delete(xTaskGetIdleTaskHandleForCPU(0)); in the stepper task before the infinite loop

You can see example how store struct at https://github.com/SergeyKupavtsev/nvs_component