and for discussion sake here is the other stuff im doing..not directly on the arduino its a chipkit32 and faster so I know as far as i can see that firmata wont work on it but simple serial stuff should..and im testing the serial for arduino anyway
You're mixing a lot of stuff, chipKit32 with Arduino, PWM with an analog signal, serial with I2C and firmata with OSC.
In your sketch you're using some analog value to control two stepper motors. If that's running on the chipKit32, what's the job of the Arduino? Do you have an overall description of your project to give us a picture of what you're trying to achieve?