Arduino programming -- 2

Program cnc arduino. I want help to program a movable xy table. I have tried to google to find similar code and use copy paste I have no programming skills. However time is running away and I am stuck in project. My client have a sushi robot. This machine dropping about 35 pices of nigiri(riceballs)per minute. 1 person is lifting these Nigiri and placing them in lines on a tray. very simple repetive task. On this tray worker make 12 lines with 5 Nigiri in every line. So the table movement is Y -axis about 5cm steps repeated 5 times) then x axis should move 2-3 cm repeted 12 times with some spacings between lines. When full tray stop. I have built a xy table under the sushi machine and need help to have program correctly move this table for positioning the dropping nigiri in place in tray. I found and modifyed a code that almost works. (added below short version) I mecanically tried to sort out the different travel distance for x axis and y by using different leadscrews. Then I have speed problem and non smooth movement instead. So code needs separation for x and y. hardware that I use. * arduino uno * cnc shield version 3.0 with a4988 drivers * Nema 17 motor 42BYGH 1.5A (17HS4401) * 4 pices 3 pin end stop switches Standard Leadscrew 8 mm m8 screw Extra sensor for possible cycle start stop input. * Reflective Photoelectric 3pin IR Infrared Obstacle Avoidance Sensor Module for arduino) This code below almost works. The problem with this code is I want to be able decide the x steps and Y steps separately. Example y axis 20400 steps and x - axis 10 000 steps. ..................................................................................................... #define EN 8 //Direction pin #define X_DIR 5 #define Y_DIR 6 //Step pin #define X_STP 2 #define Y_STP 3 //DRV8825 int delayTime=30; //Delay between each pause (uS) int stps=20400;// Steps to move void step(boolean dir, byte dirPin, byte stepperPin, int steps) { digitalWrite(dirPin, dir); delay(1000); for (int i = 0; i < steps; i++) { digitalWrite(stepperPin, HIGH); delayMicroseconds(delayTime); digitalWrite(stepperPin, LOW); delayMicroseconds(delayTime); } } void setup(){ pinMode(X_DIR, OUTPUT); pinMode(X_STP, OUTPUT); pinMode(Y_DIR, OUTPUT); pinMode(Y_STP, OUTPUT); pinMode(EN, OUTPUT); digitalWrite(EN, LOW); } void loop(){ step(false, X_DIR, X_STP, stps); // Rad nr +1 step(false, X_DIR, X_STP, stps); // Rad nr +2 step(false, X_DIR, X_STP, stps); // Rad nr +3 step(false, X_DIR, X_STP, stps); // Rad nr +4 step(false, X_DIR, X_STP, stps); //Rad nr +5 step(false, Y_DIR, Y_STP, stps); // Radbyte nr +1 step(false, Y_DIR, Y_STP, stps); // Radbyte nr +1 step(false, Y_DIR, Y_STP, stps); // Radbyte nr +1 step(true, X_DIR, X_STP, stps); // Rad nr -6 step(true, X_DIR, X_STP, stps); // Rad nr -7 step(true, X_DIR, X_STP, stps); // Rad nr -8 step(true, X_DIR, X_STP, stps); // Rad nr -9 step(true, X_DIR, X_STP, stps); // Rad nr -10 step(false, Y_DIR, Y_STP, stps); // RADBYTE NR +2 step(false, Y_DIR, Y_STP, stps); // RADBYTE NR +2 step(false, Y_DIR, Y_STP, stps); // RADBYTE NR +2 // I cut away some cycles of same info here is delay(10000); step(false, X_DIR, X_STP, stps); // Rad nr +1 step(false, X_DIR, X_STP, stps); // Rad nr +2 step(false, X_DIR, X_STP, stps); // Rad nr +3 step(false, X_DIR, X_STP, stps); // Rad nr +4 step(false, X_DIR, X_STP, stps); //Rad nr +5 step(true, Y_DIR, Y_STP, stps); // Radbyte nr +1 step(true, Y_DIR, Y_STP, stps); // Radbyte nr +1 step(true, Y_DIR, Y_STP, stps); // Radbyte nr +1 step(true, X_DIR, X_STP, stps); // Rad nr -6 step(true, X_DIR, X_STP, stps); // Rad nr -7 step(true, X_DIR, X_STP, stps); // Rad nr -8 step(true, X_DIR, X_STP, stps); // Rad nr -9 step(true, X_DIR, X_STP, stps); // Rad nr -10 step(true, Y_DIR, Y_STP, stps); // RADBYTE NR +2 step(true, Y_DIR, Y_STP, stps); // RADBYTE NR +2 step(true, Y_DIR, Y_STP, stps); // RADBYTE NR +2 delay(10000); // replace full Nigir tray. }