Help me with FW e SW Delta printer

Hello everyone

I'm doing a Delta Robot, like the one in the picture (link), for use as a 3D printer.

The robot is driven by brushless motors 3 Nema 23 with its driver. This driver has the direction inputs, Step, etc. and it can optionally be controlled by USB. (The driver of the seller said that can be controlled by macro

My problem with the project is: I can not find a control board and a software for controlling the robot;
does anyone know how I can make it work?

Thank you!!

Usually the double rods are attached to a Carriage that moves up and down on a tower. I'm not sure this is really a Delta printer. It would seem the math all changes with these mechanics.