Pan and Tilt Camera steppers and Arduino br br 100 to 1 geared stepper and extra worm gears to increase torque and reduce speed. br br Using Arduino and Motor Shield V1.2 for control via a joystick br br The steppers are from eBay :- br br DC5V 2-phase 4-wire Gear stepper motor Full Metal Gear Stepper Motor br br Arduino Leonardo and Adafruit MotorStepperServo Shield for Arduino kit - v1.2 br br These Motor Shield are discontinued but may still be available on eBay or the Adafruit MotorStepperServo Shield for Arduino v2 Kit - v2.3 could be used with suitable changes to the code br br Files: br br Pan and Tilt camera Arduino Code:- br "camerapanandtiltV2.ino" br br br USE AFMotor Modified folder with Leonardo by Michael Margolis br br Notes: br USE AFMotor Modified br ( Modified for the Leonardo by Michael Margolis) br br Control both Stepper motors at the same time with different speeds if needed br br For use with v1 shields br 100-1 metal gear stepper. With further Worm reduction br Tilt, Up and Down 100-1 metal gear stepper. br br With further Worm reduction and to increase Torque br br Using Maplin Worm Gear, a bit bigger diameter than the one off eBay br br But using the same bigger gear wheel off eBay br br Using Analogue Joystick for control, with the Joystick button used to slow down movement using a delay. br br Step Angle: 18 ° 100 so after geared moves 0.18 ° per step br 20 Steps per 360° br Reduction ratio: 100:1 br 2000 steps on output shaft after the 100:1 reduction br Actual motor Step Angle: 18 ° 100 = 20 Steps per 360° br br Public domain! br br SINGLE - One coil is energized at a time. br DOUBLE - Two coils are energized at a time for more torque. br INTERLEAVE - Alternate between single and double to create a half-step in between. This can result in smoother operation, but because of the extra half-step, the speed is reduced by half too. br MICROSTEP - Adjacent coils are ramped up and down to create a number of 'micro-steps' between each full step. This results in finer resolution and smoother rotation, but with a loss in torque. br br Note: Step is a synchronous command and will not return until all steps have completed. For concurrent motion of two motors, you must handle the step timing for both motors and use the "onestep()" function below. br br Speed - the speed in RPM br br Note: The resulting step speed is based on the 'steps' parameter in the constructor. If this does not match the number of steps for your motor, you actual speed will be off as well. br br Adafruit motor shield V1.0 br br br br AFStepper Class Modified for the Leonardo by Michael Margolis br br br br Modified for the Leonardo by Michael Margolis br br Basic Analogue Joystick br Ref : br br Build from:- br br AFMotorMultiStepper.pde br br br IMPORTANT: br br Works with all Arduino including Leonardo, Mega using modified br br AFMotor for the Leonardo by Michael Margolis br br Version 1 of the motor shield br br Michael Margolis more information br br br and also requires:- br br The AccelStepper library for Arduino br br br Control both Stepper motors at the same time br br Also see hackaday which may have some updates:- br br br Public domain! br br .