I've tried modifying the code like this
#define motorPin1 22 // Blue - 28BYJ48 pin 1
#define motorPin2 24 // Pink - 28BYJ48 pin 2
#define motorPin3 26 // Yellow - 28BYJ48 pin 3
#define motorPin4 28 // Orange - 28BYJ48 pin 4
// Red - 28BYJ48 pin 5 (VCC)
#define motorPin5 30 // Blue - 28BYJ48 pin 1
#define motorPin6 32 // Pink - 28BYJ48 pin 2
#define motorPin7 34 // Yellow - 28BYJ48 pin 3
#define motorPin8 36 // Orange - 28BYJ48 pin 4
// Red - 28BYJ48 pin 5 (VCC)
//for a 28YBJ-48 Stepper, change these parameters above
//Step angle (8-step) 5.625deg, 64 steps per rev
//Step angle (4-step) 11.25deg, 32 steps per rev
//gear reduction ratio 1/63.68395
//motorStepsPerRev = 32 * 63.68395 = 2038; //for 4 step sequence
//motorStepsPerRev = 64 * 63.68395 = 4076; //for 8 step sequence
//motorStepsPerRev = 4076;
//mmPerRev = 63;
//DEFAULT_STEPS_PER_REV = 4076;
//DEFAULT_MM_PER_REV = 63;
/*AccelStepper motorA(8, 6,8,7,9);
AccelStepper motorB(8, 2,4,3,5);
*/
// NOTE: The sequence 1-3-2-4 is required for proper sequencing of 28BYJ48
AccelStepper motorA(8, motorPin5, motorPin7, motorPin6, motorPin8);
AccelStepper motorB(8, motorPin1, motorPin3, motorPin2, motorPin4);
No errors from that part, but now I'm getting this error, even though I have commented out the penlift function (my servo died on me).
polargraph_server_a1.cpp.o: In function `loop':
/usr/share/arduino/polargraph_server_a1.ino:308: undefined reference to `penlift_penUp()'
/usr/share/arduino/polargraph_server_a1.ino:308: undefined reference to `penlift_penUp()'
/usr/share/arduino/polargraph_server_a1.ino:308: undefined reference to `penlift_penDown()'
/usr/share/arduino/polargraph_server_a1.ino:308: undefined reference to `penlift_penUp()'
/usr/share/arduino/polargraph_server_a1.ino:308: undefined reference to `penlift_penDown()'
/usr/share/arduino/polargraph_server_a1.ino:308: undefined reference to `penlift_penUp()'
collect2: error: ld returned 1 exit status
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Problem compiling
