Dobot control using RAMPS 1.4 shield with Arduino Mega

dobot.ino

//This is taken from https://www.reddit.com/r/Dobot/comments/45ilan/controlling_dobot_with_ramps_14

#include <AccelStepper.h>

#define X_STEP_PIN         54
#define X_DIR_PIN          55
#define X_ENABLE_PIN       38
#define X_MIN_PIN           3
#define X_MAX_PIN           2

#define Y_STEP_PIN         60
#define Y_DIR_PIN          61
#define Y_ENABLE_PIN       56
#define Y_MIN_PIN          14
#define Y_MAX_PIN          15

#define Z_STEP_PIN         46
#define Z_DIR_PIN          48
#define Z_ENABLE_PIN       62
#define Z_MIN_PIN          18
#define Z_MAX_PIN          19

#define E_STEP_PIN         26
#define E_DIR_PIN          28
#define E_ENABLE_PIN       24

#define Q_STEP_PIN         36
#define Q_DIR_PIN          34
#define Q_ENABLE_PIN       30

#define SDPOWER            -1
#define SDSS               53
#define LED_PIN            13

#define FAN_PIN            9

#define PS_ON_PIN          12
#define KILL_PIN           -1

#define HEATER_0_PIN       10
#define HEATER_1_PIN       8
#define TEMP_0_PIN          13   
#define TEMP_1_PIN          14   
#define zPlus             40
#define zMinus            42
int j = 0;
float x,y,z,h;
char junk;

AccelStepper HornaRuka(1, X_STEP_PIN, X_DIR_PIN);
AccelStepper DolnaRuka(1, Y_STEP_PIN, Y_DIR_PIN);
AccelStepper Tocna(1, Z_STEP_PIN, Z_DIR_PIN);



void setup() {
  pinMode(FAN_PIN , OUTPUT);
  pinMode(HEATER_0_PIN , OUTPUT);
  pinMode(HEATER_1_PIN , OUTPUT);
  pinMode(LED_PIN  , OUTPUT);

  pinMode(X_STEP_PIN  , OUTPUT);
  pinMode(X_DIR_PIN    , OUTPUT);
  pinMode(X_ENABLE_PIN    , OUTPUT);

  pinMode(Y_STEP_PIN  , OUTPUT);
  pinMode(Y_DIR_PIN    , OUTPUT);
  pinMode(Y_ENABLE_PIN    , OUTPUT);

  pinMode(Z_STEP_PIN  , OUTPUT);
  pinMode(Z_DIR_PIN    , OUTPUT);
  pinMode(Z_ENABLE_PIN    , OUTPUT);

  pinMode(E_STEP_PIN  , OUTPUT);
  pinMode(E_DIR_PIN    , OUTPUT);
  pinMode(E_ENABLE_PIN    , OUTPUT);

  pinMode(Q_STEP_PIN  , OUTPUT);
  pinMode(Q_DIR_PIN    , OUTPUT);
  pinMode(Q_ENABLE_PIN    , OUTPUT);

  pinMode(zPlus, INPUT_PULLUP);
  pinMode(zMinus, INPUT_PULLUP);

  digitalWrite(X_ENABLE_PIN    , LOW);
  digitalWrite(Y_ENABLE_PIN    , LOW);
  digitalWrite(Z_ENABLE_PIN    , LOW);
 digitalWrite(E_ENABLE_PIN    , LOW);
 digitalWrite(Q_ENABLE_PIN    , LOW);

  HornaRuka.setMaxSpeed(2000);
  HornaRuka.setSpeed(8000);
  HornaRuka.setAcceleration(2000);

 DolnaRuka.setMaxSpeed(2000);
 DolnaRuka.setSpeed(8000);
 DolnaRuka.setAcceleration(2000);

 Tocna.setMaxSpeed(2000);
 Tocna.setSpeed(8000);
 Tocna.setAcceleration(2000);
 Serial.begin(9600);
}

void loop () {


 DolnaRuka.moveTo(1000);
 HornaRuka.moveTo(1000);
 Tocna.moveTo(1000);
 
 while(DolnaRuka.distanceToGo()!=0||HornaRuka.distanceToGo()!=0||Tocna.distanceToGo()!=0){
   DolnaRuka.run();
   HornaRuka.run();
   Tocna.run();}
 }
 

gistfile1.txt

//This is taken from https://www.reddit.com/r/Dobot/comments/45ilan/controlling_dobot_with_ramps_14

#include <AccelStepper.h>

#define X_STEP_PIN         54
#define X_DIR_PIN          55
#define X_ENABLE_PIN       38
#define X_MIN_PIN           3
#define X_MAX_PIN           2

#define Y_STEP_PIN         60
#define Y_DIR_PIN          61
#define Y_ENABLE_PIN       56
#define Y_MIN_PIN          14
#define Y_MAX_PIN          15

#define Z_STEP_PIN         46
#define Z_DIR_PIN          48
#define Z_ENABLE_PIN       62
#define Z_MIN_PIN          18
#define Z_MAX_PIN          19

#define E_STEP_PIN         26
#define E_DIR_PIN          28
#define E_ENABLE_PIN       24

#define Q_STEP_PIN         36
#define Q_DIR_PIN          34
#define Q_ENABLE_PIN       30

#define SDPOWER            -1
#define SDSS               53
#define LED_PIN            13

#define FAN_PIN            9

#define PS_ON_PIN          12
#define KILL_PIN           -1

#define HEATER_0_PIN       10
#define HEATER_1_PIN       8
#define TEMP_0_PIN          13   
#define TEMP_1_PIN          14   
#define zPlus             40
#define zMinus            42
int j = 0;
float x,y,z,h;
char junk;

AccelStepper HornaRuka(1, X_STEP_PIN, X_DIR_PIN);
AccelStepper DolnaRuka(1, Y_STEP_PIN, Y_DIR_PIN);
AccelStepper Tocna(1, Z_STEP_PIN, Z_DIR_PIN);



void setup() {
  pinMode(FAN_PIN , OUTPUT);
  pinMode(HEATER_0_PIN , OUTPUT);
  pinMode(HEATER_1_PIN , OUTPUT);
  pinMode(LED_PIN  , OUTPUT);

  pinMode(X_STEP_PIN  , OUTPUT);
  pinMode(X_DIR_PIN    , OUTPUT);
  pinMode(X_ENABLE_PIN    , OUTPUT);

  pinMode(Y_STEP_PIN  , OUTPUT);
  pinMode(Y_DIR_PIN    , OUTPUT);
  pinMode(Y_ENABLE_PIN    , OUTPUT);

  pinMode(Z_STEP_PIN  , OUTPUT);
  pinMode(Z_DIR_PIN    , OUTPUT);
  pinMode(Z_ENABLE_PIN    , OUTPUT);

  pinMode(E_STEP_PIN  , OUTPUT);
  pinMode(E_DIR_PIN    , OUTPUT);
  pinMode(E_ENABLE_PIN    , OUTPUT);

  pinMode(Q_STEP_PIN  , OUTPUT);
  pinMode(Q_DIR_PIN    , OUTPUT);
  pinMode(Q_ENABLE_PIN    , OUTPUT);

  pinMode(zPlus, INPUT_PULLUP);
  pinMode(zMinus, INPUT_PULLUP);

  digitalWrite(X_ENABLE_PIN    , LOW);
  digitalWrite(Y_ENABLE_PIN    , LOW);
  digitalWrite(Z_ENABLE_PIN    , LOW);
 digitalWrite(E_ENABLE_PIN    , LOW);
 digitalWrite(Q_ENABLE_PIN    , LOW);

  HornaRuka.setMaxSpeed(2000);
  HornaRuka.setSpeed(8000);
  HornaRuka.setAcceleration(2000);

 DolnaRuka.setMaxSpeed(2000);
 DolnaRuka.setSpeed(8000);
 DolnaRuka.setAcceleration(2000);

 Tocna.setMaxSpeed(2000);
 Tocna.setSpeed(8000);
 Tocna.setAcceleration(2000);
 Serial.begin(9600);
}

void loop () {


 DolnaRuka.moveTo(1000);
 HornaRuka.moveTo(1000);
 Tocna.moveTo(1000);
 
 while(DolnaRuka.distanceToGo()!=0||HornaRuka.distanceToGo()!=0||Tocna.distanceToGo()!=0){
   DolnaRuka.run();
   HornaRuka.run();
   Tocna.run();}
 }