diff --git a/.gitmodules b/.gitmodules
index 8aae449524f4950648200488b7ad987129801583..cfd187deaa33bef6903824d987cd63ba74ab17bc 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -19,3 +19,12 @@
 [submodule "firmware/stepper-drop/src/utils_samd51"]
 	path = firmware/stepper-drop/src/utils_samd51
 	url = git@github.com:jakeread/utils_samd51.git
+[submodule "firmware/axl-stepper/src/axl"]
+	path = firmware/axl-stepper/src/axl
+	url = https://github.com/jakeread/axl
+[submodule "firmware/axl-stepper/src/osape"]
+	path = firmware/axl-stepper/src/osape
+	url = https://github.com/jakeread/osape.git
+[submodule "firmware/axl-stepper/src/osape_arduino"]
+	path = firmware/axl-stepper/src/osape_arduino
+	url = https://github.com/jakeread/osape_arduino.git
diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
new file mode 160000
index 0000000000000000000000000000000000000000..79ca7181653d7e8c567cf026e7cc882a5c410feb
--- /dev/null
+++ b/firmware/axl-stepper/src/axl
@@ -0,0 +1 @@
+Subproject commit 79ca7181653d7e8c567cf026e7cc882a5c410feb
diff --git a/firmware/axl-stepper/src/osape b/firmware/axl-stepper/src/osape
new file mode 160000
index 0000000000000000000000000000000000000000..d413d255cdccd7b4ae9f3467ab2c2a9a84b9abb8
--- /dev/null
+++ b/firmware/axl-stepper/src/osape
@@ -0,0 +1 @@
+Subproject commit d413d255cdccd7b4ae9f3467ab2c2a9a84b9abb8
diff --git a/firmware/axl-stepper/src/osape_arduino b/firmware/axl-stepper/src/osape_arduino
new file mode 160000
index 0000000000000000000000000000000000000000..498c7f326e951b2f69172fa41bc295d53c8d3596
--- /dev/null
+++ b/firmware/axl-stepper/src/osape_arduino
@@ -0,0 +1 @@
+Subproject commit 498c7f326e951b2f69172fa41bc295d53c8d3596