nema stepper motors
Do you have any idea what NEMA stands for? What it does?
I will have to code them separately at the same time doing different things.
Them is a pronoun with no referent. Are you referring to programming the "stainless steel with drivers" (whatever that means), the stepper motors, or the ONE Mega?
I have a bunch of stepper motors. Not a single one of them is programmable. Stupid things. All they can do is step.
It will be a pain to be counting steps to find the home location for the arm all the time then implementing them into the code.
I feel your pain. Get over it.
You really need to step back and describe your project in better detail. I'm peeking over the top of my monitor and looking at our robot. It uses 6 stepper motors, with encoders, to move. It is connected to a huge box that determines how many steps each motor needs to take, in what order, to move the end effector from point A to point B.
Now, the huge box is mostly empty, and could have been a lot smaller. But, still the controller has no idea what the data that it gets is trying to make the robot do. It simply knows that the list of 6 joint angle values needs to be made to happen.
Converting 3D real world position information to joint angles is a complex topic, requiring complex software, and a thorough understanding of the kinematics involved, and of inverse kinematics, to write that software.
Just using the software to make the robot do something is non-trivial.
Just how much of the end-to-end process are you trying to re-invent? Don't think I'm trying to discourage you. Far from it. If you can write all the software, and make it work with the hardware you have constructed, more power to you.
But, you might need to rein in your expectations, and focus on a smaller subset of the end to end process.