Multiple stepper moves with one button push

ESPHome
1

I am trying to get a stepper motor to make multiple moves with only one action. I want to be able to push a button and have the stepper move X numbers of steps… say 10,000 steps and once it has completed the first move then move the opposite way say 100 steps. problem is I know very little about yaml or lambda and I don’t even know where to start. I have 2 steppers that I want to move simultaneously but each can be homed independently. There are two homing switches to indicate when each stepper has reached home and it will be controlled with 3 buttons, one to home, 1 to raise and 1 to lower. I know that if I set the stepper to move one direction and then the opposite direction in the same button press the last move automatically overrides the first one so it will only make one of the moves. Any help would be greatly appreciated.

esp32:
  board: esp32dev
  framework:
    type: arduino

stepper:
  - platform: a4988
    id: chopsaw_stepper_a
    step_pin: GPIO26
    dir_pin: GPIO18
    max_speed: 2000 steps/s

    # Optional:
    sleep_pin: GPIO25
    acceleration: inf
    deceleration: inf

  - platform: a4988
    id: chopsaw_stepper_b
    step_pin: GPIO19
    dir_pin: GPIO23
    max_speed: 250 steps/s

    # Optional:
    acceleration: inf
    deceleration: inf

binary_sensor:
  - platform: gpio
    pin: 
      number: GPIO22
      mode:
        input: true
        pullup: true
    name: "Chopsaw Raise"
    id: chopsaw_raise
    on_press: #on
      then:
        - stepper.set_target:
            id: chopsaw_stepper_a
            target: 10000

  - platform: gpio
    pin: 
      number: GPIO21
      mode:
        input: true
        pullup: true
    name: "Chopsaw Lower"
    id: chopsaw_lower
    on_press: #on
      then:
        - stepper.set_target:
            id: chopsaw_stepper_a
            target: 0

  - platform: gpio
    pin:
      number: GPIO16
      mode:
        input: true
        pullup: true
    name: "Chopsaw Homed A"
    id: chopsaw_homed_a
    on_press: #on
      then:
        - stepper.report_position:
            id: chopsaw_stepper_a            
            position: 0
        - stepper.set_target:
            id: chopsaw_stepper_a
            target: 0

  - platform: gpio
    pin:
      number: GPIO27
      mode:
        input: true
        pullup: true
    name: "Chopsaw Homed B"
    id: chopsaw_homed_b
    on_press: #on
      then:        
        - stepper.report_position:
            id: chopsaw_stepper_b
            position: 0
        - stepper.set_target:
            id: chopsaw_stepper_b
            target: 0

  - platform: gpio
    pin: 
      number: GPIO17
      mode:
        input: true
        pullup: true
    name: "Chopsaw Home"
    id: chopsaw_home
    on_press: #on
      then:
        - stepper.report_position:
            id: chopsaw_stepper_a
            position: 0
        - stepper.set_target:
            id: chopsaw_stepper_a
            target: !lambda |-
              if (id(chopsaw_homed_a).state) {
                return -1000;
              } else {
                return 0;
              }
2

I was able to get the following code to build but it doesn’t work because it seems that the while loop cancels out the previous command to move the stepper 10000 steps and since there is no movement the statement is infinitely true.

binary_sensor:
  - platform: gpio
    pin: 
      number: GPIO22
      mode:
        input: true
        pullup: true
    name: "Chopsaw Raise"
    id: chopsaw_raise
    on_press: #on
      then:
        - stepper.set_target:
            id: chopsaw_stepper_a
            target: 10000
        - while:
            condition:        
              lambda: 'return id(chopsaw_stepper_a).current_position < 10000;'
            then:
              - stepper.set_target:
                  id: chopsaw_stepper_a
                  target: 9000