#include <SpeedyStepper.h>
//const int MOTOR_STEP_PINX = 3;
//const int MOTOR_DIRECTION_PINX = 4;

//ramps 1.4
const int MOTOR_STEP_PINX = 54;
const int MOTOR_DIRECTION_PINX = 55;
const int enableX = 38;

const int MOTOR_STEP_PINY = 60;
const int MOTOR_DIRECTION_PINY = 61;
const int enableY = 56;

const int MOTOR_STEP_PINZ = 46;
const int MOTOR_DIRECTION_PINZ = 48;
const int enableZ = 62;

const int MOTOR_STEP_PINA = 26;
const int MOTOR_DIRECTION_PINA = 28;
const int enableA = 24;

String dataIn = " ";

double angulosX[10];
double angulosY[10];
double angulosZ[10];
double angulosA[10];

int countX;
int countY;
int countZ;
int countA;

int x;
int y;
int z;
int a;




SpeedyStepper stepperX;
SpeedyStepper stepperY;
SpeedyStepper stepperZ;
SpeedyStepper stepperA;

void setup() {
  
  stepperX.connectToPins(MOTOR_STEP_PINX, MOTOR_DIRECTION_PINX);
  stepperY.connectToPins(MOTOR_STEP_PINY, MOTOR_DIRECTION_PINY);
  stepperZ.connectToPins(MOTOR_STEP_PINZ, MOTOR_DIRECTION_PINZ);
  stepperA.connectToPins(MOTOR_STEP_PINA, MOTOR_DIRECTION_PINA);
  
  Serial.begin(9600);
  pinMode(enableX, OUTPUT);
  digitalWrite(enableX, LOW);
  pinMode(enableY, OUTPUT);
  digitalWrite(enableY, LOW);
  pinMode(enableZ, OUTPUT);
  digitalWrite(enableZ, LOW);
  pinMode(enableA, OUTPUT);
  digitalWrite(enableA, LOW);
}


void loop() {
  
    Serial.println(angulosX[0]);
    Serial.println(angulosY[0]);
    Serial.println(angulosZ[0]);
    Serial.println(angulosA[0]);


    if (Serial.available() > 0) {
      dataIn = Serial.readStringUntil('\n');
  
         if (dataIn.startsWith("X"))
      {
        
        angulosX[countX] = dataIn.substring(1, dataIn.length()).toDouble();
        countX += 1;
        //Serial.println(count);
      }


         if (dataIn.startsWith("Y"))
      {
        
        angulosY[countY] = dataIn.substring(1, dataIn.length()).toDouble();
        countY += 1;
        //Serial.println(count);
      }


         if (dataIn.startsWith("Z"))
      {
        angulosZ[countZ] = dataIn.substring(1, dataIn.length()).toDouble();
        countZ += 1;
        //Serial.println(count);
      }

        if (dataIn.startsWith("A"))
      {
        
        angulosA[countA] = dataIn.substring(1, dataIn.length()).toDouble();
        countA += 1;
        //Serial.println(count);
      }

    

      

          if (dataIn.startsWith("J"))
      {
         for (int i = 0; i <= 10; i++) {
         stepperX.setSpeedInStepsPerSecond(100*10);
         stepperX.setAccelerationInStepsPerSecondPerSecond(100*10);   
         stepperX.setupMoveInSteps(angulosX[i]*85.3);
         
         stepperY.setSpeedInStepsPerSecond(100*10);
         stepperY.setAccelerationInStepsPerSecondPerSecond(100*10);   
         stepperY.setupMoveInSteps(angulosY[i]*85.3);

         stepperZ.setSpeedInStepsPerSecond(100*10);
         stepperZ.setAccelerationInStepsPerSecondPerSecond(100*10);   
         stepperZ.setupMoveInSteps(angulosZ[i]*85.3);

         stepperA.setSpeedInStepsPerSecond(100*10);
         stepperA.setAccelerationInStepsPerSecondPerSecond(100*10);   
         stepperA.setupMoveInSteps(angulosA[i]*85.3);
          
       while((!stepperX.motionComplete()) || (!stepperY.motionComplete()) || (!stepperZ.motionComplete()) || (!stepperA.motionComplete()))   
     {
        stepperX.processMovement();
        stepperY.processMovement();
        stepperZ.processMovement();
        stepperA.processMovement();
     }
     
        y += 1;
        x += 1;
        z += 1;
        a += 1;
    }
      }
    
    }
}

python code: 

import linecache
import time   
import serial 

serialcomm = serial.Serial('COM12', 9600)

serialcomm.timeout = 1

time.sleep(1)

  
f = open("commands.txt", "r")

time.sleep(0.2)

count = 1

while True:
    print(1)
    commandsFile = linecache.getline('commands.txt',count)
    file = commandsFile.split(" ")

    for x in file:
        print(x)
        serialcomm.write((x + '\n').encode())
        time.sleep(0.5)
        #serialcomm.flush()
    else:
        count += 1
        print(count)