RPi - Time delay with stepper motors

I am using B4J to control a stepper motor on a rover. The whole project is working and I was able to test the rover. It works without a load. Unfortunately I need a load of 2 kg. I tried placing a weight on my rover and it stopped - the motor is not strong enough. I have two options:

1. A single stronger motor - means just a mechanical rebuild, not a problem.
2. A second motor.

With the second option, I have a question. The activation of the motor coils is via a timer with a delay of 50ms...

RPi - Time delay with stepper motors

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