Delta 3 arm robot

Hello,
I need help for my Delta Robot pick and place.
I want to convert x and y coordinates to angles to drive servo motor
Motor 1 used for X axis while motor 2 for y axis and Z axis is constant. Objects coordinates are detected by live video, I want to convert those x and y axis to angle for motor M1 and motor M2.

What have you tried so far? Post your code and people will help you. People don't typically write the code for you. Converting from an X-Y coordinate system (Cartesian) to an angle and distance (Cylindrical) is a straight forward math problem that Google could easily answer.