This is generated using FirmataBuilder: http://firmatabuilder.com/
I have enabled Stepper motor Firmata feature to be used with the LinearDriveSystemController .
In this project, I used Arduino Yun which is now retired. You can use better units like: https://www.arduino.cc/en/Guide/ArduinoUnoWiFiRev2#toc4 https://store.arduino.cc/usa/arduino-ethernet-rev3-without-poe I would avoid using eth or wifi shields for reliability issues.