where I is the peak phase current you want (normally 50% to 80% of the rated phase current of the motor) and R us the value of the sense resistors. R will be either 0.1 or 0.05 ohms depending on your drivers.
I prefer to use all-in-one controller boards that let you configure the motor current in software.
Large delta printer [miscsolutions.wordpress.com], E3D tool changer, Robotdigg SCARA printer, Crane Quad and Ormerod
Disclosure: I design Duet electronics and work on RepRapFirmware, [duet3d.com].