yes that hardware will work to drive your steppers, here is your but though. what are you doing.? you may wish to look into something called a CNC Shield, it may be more suited to your taks. http://blog.protoneer.co.nz/arduino-cnc-shield/
all gcode is, is the instructions for the controler on where to move next, X,Y,Z, E
all gcode is, is the instructions for the controler on where to move next, X,Y,Z, E