Here is a link for the Arduino Sketch we have been using for a stepper system. Good success has been reported by several users:

http://ki4sbl.dodropin.org/CNCTRK/Arduino/RAZEL-duino_2016-05-28.ino

Change the scale factors and max velocity to match your steppers.

See the credits in the notes for the original work by Tom, W9KE. Any errors on the above link are all my fault!!

Have fun! Bob KI4SBL