No printer controls their motors with >600 dpi resolution. Inkjet printers have print heads with many nozzles; the motors do the rough positioning / slide the head over the paper, the nozzles do the hard work. In laser printers a motor only moves the paper along (all rollers are either free-running or synchronized by gears).
So for an inkjet you'd have to look at the nozzle timing, which might be difficult depending on how integrated the drivers are (e.g. if they're a custom chip on a flexprint behind the heads... uhm...). For a laser printer you'd have to look at the laser modulation signal. That should be much easier, bugs have done that before.
Reverse engineering the firmware might be easier... on the other hand, the firmware is probably bolted shut rather well — the printer manufacturers cartridge DRM is in there somewhere.