diff --git a/config.h.dist b/config.h.dist
index 2f6c9b9..a1ea657 100644
--- a/config.h.dist
+++ b/config.h.dist
@@ -100,7 +100,7 @@
 
 #ifdef ACCELERATION_REPRAP
 	#ifdef ACCELERATION_RAMPING
-		#error Can't use ACCELERATION_REPRAP and ACCELERATION_RAMPING together.
+		#error "Can't use ACCELERATION_REPRAP and ACCELERATION_RAMPING together."
 	#endif
 #endif
 
@@ -310,6 +310,13 @@ struct {
 */
 #define	MOVEBUFFER_SIZE	8
 
+/*
+	DC extruder
+		If you have a DC motor extruder, configure it as a "heater" above and define this value as the index.
+*/
+// #define	DC_EXTRUDER 1
+// #define	DC_EXTRUDER_PWM	180
+
 /*
 	FiveD on Arduino implements a watchdog, which has to be reset every 250ms or it will reboot the controller. As rebooting (and letting the GCode sending application trying to continue the build with a then different Home point) is probably even worse than just hanging, and there is no better restore code in place, this is disabled for now.
 */
diff --git a/dda.c b/dda.c
index 2baa768..87d6183 100644
--- a/dda.c
+++ b/dda.c
@@ -13,6 +13,10 @@
 #include	"pinio.h"
 #include	"config.h"
 
+#ifdef	DC_EXTRUDER
+	#include	"heater.h"
+#endif
+
 /*
 	X Stepper
 */
@@ -68,8 +72,11 @@
 	(so we don't have to delay in interrupt context)
 */
 
-#define unstep() 							do { _x_step(0); _y_step(0); _z_step(0); _e_step(0); } while (0)
-
+#ifndef	DC_EXTRUDER
+	#define unstep() 							do { _x_step(0); _y_step(0); _z_step(0); _e_step(0); } while (0)
+#else
+	#define unstep() 							do { _x_step(0); _y_step(0); _z_step(0); } while (0)
+#endif
 /*
 	Used in distance calculation during DDA setup
 */
@@ -401,12 +408,18 @@ void dda_start(DDA *dda) {
 			y_enable();
 			if (dda->z_delta)
 				z_enable();
-			
+
 			// set direction outputs
 			x_direction(dda->x_direction);
 			y_direction(dda->y_direction);
 			z_direction(dda->z_direction);
 			e_direction(dda->e_direction);
+			
+			#ifdef	DC_EXTRUDER
+			if (dda->e_delta)
+				heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
+			#endif
+			
 		}
 
 		// ensure this dda starts
@@ -629,6 +642,9 @@ void dda_step(DDA *dda) {
 		// linear acceleration code doesn't alter F during a move, so we must update it here
 		// in theory, we *could* update F every step, but that would require a divide in interrupt context which should be avoided if at all possible
 		current_position.F = dda->endpoint.F;
+		#ifdef	DC_EXTRUDER
+			heater_set(DC_EXTRUDER, 0);
+		#endif
 	}
 	
 	setTimer(dda->c >> 8);
diff --git a/heater.c b/heater.c
index a5b2dd6..525a58e 100644
--- a/heater.c
+++ b/heater.c
@@ -46,14 +46,7 @@ typedef struct {
 	int16_t		EE_i_limit;
 } EE_factor;
 
-EE_factor EEMEM EE_factors[NUM_HEATERS] = {
-	{
-		DEFAULT_P,
-		DEFAULT_I,
-		DEFAULT_D,
-		DEFAULT_I_LIMIT
-	}
-};
+EE_factor EEMEM EE_factors[NUM_HEATERS];
 
 void heater_init() {
 	#if NUM_HEATERS > 0