Some prelimary questions: How fast do you want max jog to be? how many steps per rev? This info will drive how you toggle the output pins for the steps. My first thought is intrupt based toggle. But it really depends on the speed you want to achieve, and how precise you want that speed.
If you think about the a/d answer being the modifer for a delay between toggles, I am not sure you have much math to do.
Lets assume 10 bit A/D, with 24 bits of dead band. so you have 500 possibilties for the speed. So 0 max, and 500 is stop. This is because 0 delay would be full speed.
Now we just need to know osc speed for the rest of the math
If you use 2 counters as the delay, your A/D answer can change the count needed to toggle. Then establish a duration for what a count represents and load that into the timer. when the timer rolls over, update both counters. If either or both have reached their count, toggle the pin for that motor.
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