If you use the old "hammer driver" ULNseries , you'd be lucky to get 3.1V out of the bridge. And with Arduino code, you'd be bit banging your head until it hurt. Get a CNC shield with proper FET drivers, GRBL code for Uno or better, and operate using your favourite GRBL encoded 3D printing software, or for speed tests on the system for slipping limits on acceleration , resonance, max print speed, or print or measure position overshoot errors vs speed and play with full step high speed, high torque, belt gear ratios vs fractional step high res/low noise low torque.
Get (free) GRBL Panel for windows and play with max a, max v , tweak current limit on CNC shield (amazing software), verify grounding on everything (RF shunt to earth ground to avoid USB errors and SMPS CM EMI) then save the results and transfer to your 3D CAD/CAM software
and oh by the way get bigger motors 12V and limit current for heat rise cooled by tiny muffin fans