How should I write angle values into stepper motors similare to servoWriteFloat() for servo motors? - arduino-uno

Question

I am working on a delta robot controlled with stepper motors through arduino uno.
I found a code online that allows me to use Arduino processing IDE but this code was written for servo motors.
So, I am trying to re-adjust this code to work with my stepper motors but I am very new to using arduino and programming so I am facing some difficulties.
I think my main problem is not knowing how to write angle values into stepper motors which is this part of their code:
`
servoWriteFloat(&servo1, t1); //write angles value into the servo
servoWriteFloat(&servo2, t2+10); //write angles value into the servo - the 10 value is due to not perfect alignement of the servo
servoWriteFloat(&servo3, t3+5); //write angles value into the servo - the 5 value is due to not perfect alignement of the servo
`
Here are the component used in this project:
Component used in this project:
Two NEMA 17 stepper motors Frame Size 42x42mm Technique specification: Step Angle: 1.8° – Current /phase: 1.7 A – Resistance /phase: 1.5 Ω – Inductance /phase: 2.8 mH – Holding Torque: 2.2 N.cm – leads: 4 wires – Motor Wight: 0.28 Kg – Motor Length: 40 mm
One NEMA 23 Stepper motor Technique specification: Step Angle: 1.8°– Current /phase: 3 A – Resistance /phase: 1Ω – Inductance /phase: 1.8 mH – Holding Torque: 13 Kg.cm – leads: 8 wires – Motor Wight: 1 Kg – Length: 76 mm
Two A4988 – Stepper Motor Driver Specs:
Minimum operating voltage: 8 V
Maximum operating voltage: 35 V
Continuous current per phase: 1 A
Maximum current per phase: 2 A
Minimum logic voltage: 3 V
Maximum logic voltage: 5.5 V
Microstep resolutions: 1, 1/2, 1/4, 1/8, 1/16
Size: 0.6″ × 0.8″
Weight: 1.3 g
One Drv8825 – Stepper Motor Driver specs
Arduino Shield "NANO CNC Machine V4 Board" Description: There are total 3 ways slots for stepper motor driver modules (Model A4988 or Drv8825 – It sold separately at our store ), and it can drive 3 ways stepper motors each up to 2A. Each way stepper motor has two I/O ports and it means 6 I/O ports can manage 3 stepper motors. It is very convenient to operate.
All connected together to an arduino uno, the connections and the components are almost the same as the ones used in this youtube video
The Following is my attempt to readjust the code to work for stepper motors:
`
#include <Stepper.h>
float xPos = 0; // x axis position
float yPos = 0; // y axis position
float zPos = -190; // z axis position, negative is up, positive is down. Delta bots are usually used up side down...
//float xPos = 78.231;
//float yPos = -78.231;
//float zPos = -377.824;
float t1; //stepper angle t for 'theta', 1 for stepper 1
float t2;
float t3;
int result;
int data = 0;
int serialTeller=0;
#define MAXANGLE 98.73 //maximum angle allowed by the Steppers
#define MINANGLE -42.92 //minimum angle alloweb by the Steppers
// defines pins numbers
const int stepX = 2;
const int dirX = 5;
const int stepY = 3;
const int dirY = 6;
const int stepZ = 4;
const int dirZ = 7;
const int enPin = 8;
void setup() {
// initialize the serial port:
Serial.begin(9600);
// Sets the two pins as Outputs
pinMode(stepX,OUTPUT);
pinMode(dirX,OUTPUT);
pinMode(stepY,OUTPUT);
pinMode(dirY,OUTPUT);
pinMode(stepZ,OUTPUT);
pinMode(dirZ,OUTPUT);
pinMode(enPin,OUTPUT);
digitalWrite(enPin,LOW);
digitalWrite(dirX,HIGH);
digitalWrite(dirY,HIGH);
digitalWrite(dirZ,HIGH);
}
void loop(){
//int variable1 = int(random(100));
//Serial.print(variable1);
char xxPos[4]; // x position taken from processing
char yyPos[4]; // y position taken from processing
char zzPos[4]; // z position taken from processing
char tempo; // temp variable
if (Serial.available() > 12) {
tempo=Serial.read(); //read from serial
int conta=0;
while (tempo != 'X') // wait for the X position
{
tempo=Serial.read();
}
if (Serial.available() >= 11) {
xxPos[0]=Serial.read(); //read X byte
xxPos[1]=Serial.read(); //read X byte
xxPos[2]=Serial.read(); //read X byte
xxPos[3]=Serial.read(); //read X byte
xPos=atoi(xxPos); //transfor bytes in integer
tempo=Serial.read(); //read Y char
yyPos[0]=Serial.read(); //read Y byte
yyPos[1]=Serial.read(); //read Y byte
yyPos[2]=Serial.read(); //read Y byte
yyPos[3]=Serial.read(); //read Y byte
yPos=atoi(yyPos); //transform bytes in integer
tempo=Serial.read(); //read Z Char
zzPos[0]=Serial.read(); //read Z byte
zzPos[1]=Serial.read(); //read Z byte
zzPos[2]=Serial.read(); //read Z byte
zzPos[3]=Serial.read(); //read Z byte
zPos=atoi(zzPos); //transform bytes in integer
}
}
result = delta_calcInverse(xPos, yPos, zPos, t1, t2, t3);
// stepperWriteFloat(&stepX, t1); //How should I rewrite servoWriteFloat for stepper motors?
// stepperWriteFloat(&stepY, t2+10);
// stepperWriteFloat(&stepZ, t3+5);
//Should I write it this way?
digitalWrite(stepX, t1);
digitalWrite(stepY, t2+10);
digitalWrite(stepZ, t2+5);
//or should I write it similare to this ?
//// initialize the stepper library on pins:
//Stepper myStepper1(t1, 2, 5);
//Stepper myStepper2(t2+10, 3, 6);
//Stepper myStepper3(t3+5, 4, 7);
// // set the speed at 60 rpm:
//myStepper1.setSpeed(60);
//// set the speed at 60 rpm:
//myStepper2.setSpeed(60);
//// set the speed at 60 rpm:
//myStepper3.setSpeed(60);
//
//// Serial.println("myStepper1 t1");
// myStepper1.step(t1);
// Serial.println("myStepper1 t2");
// myStepper1.step(t2+10);
// Serial.println("myStepper1 t3");
// myStepper1.step(t3+5);
}
//////////////////// I think this part should remain the same////////////////////
//Note: I copied this part in the same file as the above code because otherwise it gives me and error saying that result is not indicated in this scope//
// print some values in the serial
void printSerial(){
Serial.print(result == 0 ? "ok" : "no");
char buf[10];
dtostrf(xPos, 4, 0, buf);
Serial.print(" X");
Serial.print(buf);
dtostrf(yPos, 4, 0, buf);
Serial.print(" Y");
Serial.print(buf);
dtostrf(zPos, 4, 0, buf);
Serial.print(" Z");
Serial.print(buf);
dtostrf(t1, 6, 2, buf);
Serial.print(" T1");
Serial.print(buf);
dtostrf(t2, 6, 2, buf);
Serial.print(" T2");
Serial.print(buf);
dtostrf(t3, 6, 2, buf);
Serial.print(" T3");
Serial.print(buf);
Serial.println("");
}
The Following is the processing IDE code which I believe works just fine:
//write X value in serial port
xPos="X";
if (XXX > 0)
xPos += '+';
else
xPos += '-';
if (abs(XXX) < 100)
xPos += '0';
if (abs(XXX) < 10)
xPos += '0';
xPos += abs(XXX);
// write Y value in serial port
yPos="Y";
if (YYY > 0)
yPos += '+';
else
yPos += '-';
if (abs(YYY) < 100)
yPos += '0';
if (abs(YYY) < 10)
yPos += '0';
yPos += abs(YYY);
// write Z value in serial port
zPos="Z";
if (ZZZ > 0)
zPos += '+';
else
zPos += '-';
if (abs(ZZZ) < 100)
zPos += '0';
if (abs(ZZZ) < 10)
zPos += '0';
zPos += abs(ZZZ);
// write x,y,z in the serial port
myPort.write(xPos);
myPort.write(yPos);
myPort.write(zPos);
// write x,y,z in the monitor
print(xPos);
print(yPos);
println(zPos);
}
`
I also read this Forum and found out the following: "A stepper - in contrast to a servo - does not know where it is. If you want it to move to an absoulte angle, you must fist determine a starting position - e.g. with an end switch." but I am still not sure how to move on from here, How should I wrtie angle values into stepper motor?
Note: I believe the kinematics code should remain the same in both cases.