A stepper motor includes a rotor having equally spaced rotor teeth defining a full step angle, and a stator with stator poles wound with coils that can be driven in a series of phases so as to magnetically interact with the rotor to produce stepping motion. The stator poles have teeth organized into two groups when there is an even number of stator teeth per pole, or into three groups for an odd number of stator teeth per pole. The stator teeth have an average pitch different from the rotor's tooth pitch, but the groups of stator teeth are also displaced relative to other groups by a specified offset angle of one-half or one-quarter step to double the number of detent positions, and to displace such detent positions from full one-phase ON or two-phase ON positions.