I'd never heard of DrufelCNC, but according to the site. it seems like it takes regular G-code. https://drufelcnc.com/?c=gcode To set the units to mm, give it an initial G21 command. To make it go along the X axis to a particular location at a certain speed, you'd give it a directional command like G01 X2.35 F200. But making it respond to a foot pedal will take some electronic assembly and integration at your end. I suppose if worse came to worse, you could rig your pedal to tap a key on a joystick: https://drufelcnc.com/?c=manual&p=m21