To JimboZA,
yea that makes sense to get the math down before the programming, I mean I just finished taking my first semester of linear algebra, and through research I came across the fact that i am going to need knowledge of isomorphisms between the joints and their rotations, DH parameters (which seems a bit complicated), and inverse kinematics (which I am still researching and doing my best to learn about). My main concern was the programming in arduino, and not as much the mathematics, but I guess my logic was reversed and I should start the other way around based on your advice.