Uarm based 3D printer

Hi there,
I am trying to make a 3D printer based on the Uarm Uarm website I have modified the arm to support more weight and upgraded the servo motors.
The arm uses carthesian coordinates to position itself. I have tried to adapt the repetier firmware to accomodate the arm, but the program uses stepper motors where i use servo motors.
And therefore, i need to use the coodinates provided by the G code and not the steps calculated in the firmware. Can you guys help me find where i can put my code ?
My code takes the x,y,z coordinates and translates them into movement

For Servo drives the usual RepRap firmwares aren't of much help. Their entire point is to translate to step pulses.

If your servo accepts coordinates already, why do you need a controller at all?

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Generation 7 Electronics	Teacup Firmware	RepRap DIY

The uarm uses hobby servos which have pathetic accuracy . Don't waste ur time trying to make a printer out of this.