I am sorry about the initial introduction. I am using an arduino uno r3 board. The motors currently on the machine itself are nema 23 stepper motors with a 1.8 degrees per step, so a 200 step motor. If I were to get a servo motor, the motor itself will have to create a sine wave that can be manipulated, the frequency and amplitude. I will send some pictures of the code they created here shortly, but I have no idea what exactly they used on their arduino board. I dont have much experience with these motors or coding, I am a sophomore in college.