This is hopefully the route we did (if my memory's correct). Starting in Asbourne and finishing at Calver which was the most convenient place for us all to return home from.
https://maps.google.co.uk/maps?saddr=Waterside+Retail+Park,+Waterside+Road,+Ashbourne+DE6+1DG&daddr=53.1144229,-1.8330973+to:Longnor+to:Bakewell+to:53.1898074,-1.6151027+to:Calver+to:Castleton+to:Edale+to:53.3727852,-1.7607835+to:Calver&hl=en&sll=53.282458,-1.728287&sspn=0.296809,0.791016&geocode=FX7dKAMdGGPl_ynHNclC6xh6SDHMb4u0z5uLzg%3BFTZ2KgMddwfk_yk9E9wuqTx6SDEbPVgGTvpI0A%3BFRl-KwMdwXrj_ynl9-ekUjp6SDG_ATdJHJMr3w%3BFef_KwMddWzm_ynBRpifdId5SDF20E1g8RFBRw%3BFa-cKwMdAlvn_ylNvFzzHoh5SDGTSjq2lsOZog%3BFRHRLAMdH_bm_ynx29atYYd5SDHhvFGViAl-GA%3BFQD3LQMdaOrk_ykZmYusBi16SDHtIEhls7XaHA%3BFbpRLgMdg0Hk_ykTa0f_ttJ7SDGCt6X5NG_r3A%3BFXFnLgMd8SHl_ympvr7Myyx6SDGRpRNhOSeEOA%3BFRHRLAMdH_bm_ynx29atYYd5SDHhvFGViAl-GA&oq=calver&mra=dpe&mrsp=8&sz=11&via=1,4,8&t=m&z=11