Engine light, error code

[ZoeTard]

On my way home for lunch, 1/2 way there the engine light comes on, running no problem rest of the way home. Check the code, 21.3 Stepper motor Error (1 of 3 stepper motor codes, 21.1 & 21.2) anyone else have this code come up? From the limited info I've found searching it appears to have something to do with the idle.

Didn't want to risk getting stuck so I left it, going to swing by the dealers after work and see if they have any info.