Control of stepper motor in an optical disc

A method for controlling a stepper motor in an optical disc system, comprising the steps of (A) measuring a static offset of a center error signal, (B) measuring a maximum value, minimum value and an average value of the center error signal in response to rotating the optical disc, (C) computing one or more upper threshold values and one or more lower threshold values of the center error signal, (D) sampling the center error signal, (E) comparing the center error signal to the one or more upper threshold values and to the one or more lower threshold values and (F) computing a control output to control the stepper motor in response to comparing the center error signal to the one or more upper and lower threshold values.