Antenna Turret Toy with Computer Tracking

Lacking a real antenna, I made this toy, to sit on my desk and point in the direction of the ISS or other satellites that I'm receiving.

Apr 15, 2021

•

9865 views

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9 respects

Devices & Components

Arduino Nano

Small Signal Diode, Switching

SG90 Micro-servo motor

Hardware & Tools

Soldering iron (generic)

Hot glue gun (generic)

Software & Tools

Arduino IDE

Project description

Code

servos_easycom2_apr2021

arduino

AZ/EL Rotator toy controller for Arduino with servos Uses EasyComm2 protocol for computer - Tracking Software Two servomotors to move the antenna in Az (360 deg) and El (90 deg)

1/*  AZ/EL Rotator toy controller for Arduino with servos
2 *  ========================================================
3  *  Uses EasyComm2 protocol for computer - Tracking Software
4 *  servomotors to  move the antenna in Az (360 deg) and El (90 deg)
5 *  
6 *  Viorel Racoviteannu
7  *  https://www.youtube.com/channel/UCiRLZX0bV9rS04BGAyUf-fA
8 *  https://racov.ro
9  *  YO3RAK@gmail.com
10 *  
11 * I cannot take any responsibility for missuse of  this code
12 * or any kind of damage it may occur from using this code.
13 * 
14  */
15#include <Wire.h>
16/*
17#include <Adafruit_GFX.h>
18#include <Adafruit_SSD1306.h>
19#include  <Fonts/FreeSans18pt7b.h>
20#include <Fonts/FreeSans12pt7b.h>
21Adafruit_SSD1306  display(4);
22*/
23#include <Servo.h>
24Servo AzServo;  // create servo object  to control the azimuth servo
25Servo ElServo;  // create servo object to control  the elevation servo
26
27  String Azimuth = "";
28  String Elevation = "";
29  String ComputerRead = "";
30  String ComputerWrite = "";
31  int ComAzim  = 0;
32  int ComElev = 0;
33
34void setup()   {
35  Serial.begin(9600);
36  Serial.setTimeout(50);           // miliseconds to wait for USB sata. Default  1000
37/*
38  display.begin(SSD1306_SWITCHCAPVCC, 0x3C);  // initialize with the  I2C addr 0x3C (for the 128x32)
39  display.display();    
40  display.setTextColor(WHITE);
41  display.setFont(&FreeSans12pt7b);
42  delay(2000);
43  display.clearDisplay();                     // Clear the buffer
44  
45  display.setCursor(-3,24);
46  display.println("EasyComm2");
47  display.display();
48  delay (1000);
49  display.setFont(&FreeSans18pt7b);
50*/  
51  AzServo.attach(5);  // connect  Az servo to pin 5
52  ElServo.attach(6);  // connect Az servo to pin 6
53
54
55   /********************** make a short movement *************************/
56  ComAzim = 0;
57  ComElev = 40;
58  Rotate();                // center the servos
59  delay(100);
60  for (ComAzim = 0; ComAzim <= 45; ComAzim += 1) { // goes from  0 degrees to 45 degrees
61    // in steps of 1 degree
62    Rotate();              //  tell servo to go to position
63    delay(20);             // waits 20ms for the  servo to reach the position
64  }
65  for (ComElev = 20; ComElev <= 75; ComElev  += 1) {
66    Rotate();
67    delay(20);
68  }
69  ComAzim = 0;
70  ComElev  = 35;
71  Rotate();
72  DisplayPosition();
73
74}
75
76void loop() {
77
78  if (Serial.available()){
79    SerComm();
80    Rotate();
81    DisplayPosition();  
82    delay (100);
83  }
84  
85}
86
87void SerComm() {
88  // initialize  readings
89  ComputerRead = "";
90  Azimuth = "";
91  Elevation = "";
92
93  while(Serial.available()) {
94    ComputerRead= Serial.readString();  // read  the incoming data as string
95//    Serial.println(ComputerRead);     // echo the  reception for testing purposes
96  }
97  
98// looking for command <AZxxx.x>
99    for (int i = 0; i <= ComputerRead.length(); i++) {
100     if ((ComputerRead.charAt(i)  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')){ // if read AZ
101      for (int j =  i+2; j <= ComputerRead.length(); j++) {
102        if (isDigit(ComputerRead.charAt(j)))  {                                // if the character is number
103          Azimuth  = Azimuth + ComputerRead.charAt(j);
104        }
105        else {break;}
106      }
107     }
108    }
109    
110// looking for command <ELxxx.x>
111    for (int i =  0; i <= (ComputerRead.length()-2); i++) {
112      if ((ComputerRead.charAt(i) ==  'E')&&(ComputerRead.charAt(i+1) == 'L')){ // if read EL
113        if ((ComputerRead.charAt(i+2))  == '-') {
114          ComElev = 0;                  // if elevation negative
115          break;
116        }
117        for (int j = i+2; j <= ComputerRead.length();  j++) {
118          if (isDigit(ComputerRead.charAt(j))) {                               //  if the character is number
119            Elevation = Elevation + ComputerRead.charAt(j);
120          }
121          else {break;}
122        }
123      }
124    }
125    
126//  if <AZxx> received
127    if (Azimuth != ""){
128      ComAzim = Azimuth.toInt();
129      ComAzim = ComAzim%360;          // keeping values between limits(for trackers  with more than 360 deg. rotation)
130      }
131
132// if <ELxx> received
133    if  (Elevation != ""){
134      ComElev = Elevation.toInt();
135      if (ComElev>180)  { ComElev = 0;}
136      if (ComElev>90) {               //if received more than  90deg. (for trackers with 180deg. elevation)
137        ComElev = 180-ComElev;        //keep  below 90deg.
138        ComAzim = (ComAzim+180)%360;  //and rotate the antenna on  the back
139      }
140    }
141
142// looking for <AZ EL> interogation for antenna  position
143  for (int i = 0; i <= (ComputerRead.length()-4); i++) {
144    if ((ComputerRead.charAt(i)  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')&&(ComputerRead.charAt(i+3) == 'E')&&(ComputerRead.charAt(i+4)  == 'L')){
145    // send back the antenna position <+xxx.x xx.x>
146      ComputerWrite  = "+"+String(ComAzim)+".0 "+String(ComElev)+".0";
147      Serial.println(ComputerWrite);
148    }
149  }
150}
151
152void Rotate() {
153  // rotate the servos to the coordinates  received thru serial
154  // because the servo rotates in the oposite direction,  we have to reverse the movement
155  if (ComElev >90){                // if received  elevation more than 90 deg
156    ComElev = 180-ComElev;         // keep it below  90
157    ComAzim = (180+ComAzim)%360;   // and flip the antenna
158  }
159  if  (ComAzim > 180) {              // if azim more than 180 deg
160      AzServo.write(360-ComAzim);   // flip the antenna
161      ElServo.write(180-ComElev);
162    }
163    else  {
164      AzServo.write(180-ComAzim);
165      ElServo.write(ComElev);
166    }
167}
168
169void  DisplayPosition() {
170  // display values
171/*  
172  display.clearDisplay();
173  display.setCursor(0,28);
174  display.print(ComAzim);
175  display.print(" /  ");
176  display.print(ComElev);
177  display.display();
178*/
179}

/*  AZ/EL Rotator toy controller for Arduino with servos
 *  ========================================================
  *  Uses EasyComm2 protocol for computer - Tracking Software
 *  servomotors to  move the antenna in Az (360 deg) and El (90 deg)
 *  
 *  Viorel Racoviteannu
  *  https://www.youtube.com/channel/UCiRLZX0bV9rS04BGAyUf-fA
 *  https://racov.ro
  *  YO3RAK@gmail.com
 *  
 * I cannot take any responsibility for missuse of  this code
 * or any kind of damage it may occur from using this code.
 * 
  */
#include <Wire.h>
/*
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include  <Fonts/FreeSans18pt7b.h>
#include <Fonts/FreeSans12pt7b.h>
Adafruit_SSD1306  display(4);
*/
#include <Servo.h>
Servo AzServo;  // create servo object  to control the azimuth servo
Servo ElServo;  // create servo object to control  the elevation servo

  String Azimuth = "";
  String Elevation = "";
  String ComputerRead = "";
  String ComputerWrite = "";
  int ComAzim  = 0;
  int ComElev = 0;

void setup()   {
  Serial.begin(9600);
  Serial.setTimeout(50);           // miliseconds to wait for USB sata. Default  1000
/*
  display.begin(SSD1306_SWITCHCAPVCC, 0x3C);  // initialize with the  I2C addr 0x3C (for the 128x32)
  display.display();    
  display.setTextColor(WHITE);
  display.setFont(&FreeSans12pt7b);
  delay(2000);
  display.clearDisplay();                     // Clear the buffer
  
  display.setCursor(-3,24);
  display.println("EasyComm2");
  display.display();
  delay (1000);
  display.setFont(&FreeSans18pt7b);
*/  
  AzServo.attach(5);  // connect  Az servo to pin 5
  ElServo.attach(6);  // connect Az servo to pin 6


   /********************** make a short movement *************************/
  ComAzim = 0;
  ComElev = 40;
  Rotate();                // center the servos
  delay(100);
  for (ComAzim = 0; ComAzim <= 45; ComAzim += 1) { // goes from  0 degrees to 45 degrees
    // in steps of 1 degree
    Rotate();              //  tell servo to go to position
    delay(20);             // waits 20ms for the  servo to reach the position
  }
  for (ComElev = 20; ComElev <= 75; ComElev  += 1) {
    Rotate();
    delay(20);
  }
  ComAzim = 0;
  ComElev  = 35;
  Rotate();
  DisplayPosition();

}

void loop() {

  if (Serial.available()){
    SerComm();
    Rotate();
    DisplayPosition();  
    delay (100);
  }
  
}

void SerComm() {
  // initialize  readings
  ComputerRead = "";
  Azimuth = "";
  Elevation = "";

  while(Serial.available()) {
    ComputerRead= Serial.readString();  // read  the incoming data as string
//    Serial.println(ComputerRead);     // echo the  reception for testing purposes
  }
  
// looking for command <AZxxx.x>
    for (int i = 0; i <= ComputerRead.length(); i++) {
     if ((ComputerRead.charAt(i)  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')){ // if read AZ
      for (int j =  i+2; j <= ComputerRead.length(); j++) {
        if (isDigit(ComputerRead.charAt(j)))  {                                // if the character is number
          Azimuth  = Azimuth + ComputerRead.charAt(j);
        }
        else {break;}
      }
     }
    }
    
// looking for command <ELxxx.x>
    for (int i =  0; i <= (ComputerRead.length()-2); i++) {
      if ((ComputerRead.charAt(i) ==  'E')&&(ComputerRead.charAt(i+1) == 'L')){ // if read EL
        if ((ComputerRead.charAt(i+2))  == '-') {
          ComElev = 0;                  // if elevation negative
          break;
        }
        for (int j = i+2; j <= ComputerRead.length();  j++) {
          if (isDigit(ComputerRead.charAt(j))) {                               //  if the character is number
            Elevation = Elevation + ComputerRead.charAt(j);
          }
          else {break;}
        }
      }
    }
    
//  if <AZxx> received
    if (Azimuth != ""){
      ComAzim = Azimuth.toInt();
      ComAzim = ComAzim%360;          // keeping values between limits(for trackers  with more than 360 deg. rotation)
      }

// if <ELxx> received
    if  (Elevation != ""){
      ComElev = Elevation.toInt();
      if (ComElev>180)  { ComElev = 0;}
      if (ComElev>90) {               //if received more than  90deg. (for trackers with 180deg. elevation)
        ComElev = 180-ComElev;        //keep  below 90deg.
        ComAzim = (ComAzim+180)%360;  //and rotate the antenna on  the back
      }
    }

// looking for <AZ EL> interogation for antenna  position
  for (int i = 0; i <= (ComputerRead.length()-4); i++) {
    if ((ComputerRead.charAt(i)  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')&&(ComputerRead.charAt(i+3) == 'E')&&(ComputerRead.charAt(i+4)  == 'L')){
    // send back the antenna position <+xxx.x xx.x>
      ComputerWrite  = "+"+String(ComAzim)+".0 "+String(ComElev)+".0";
      Serial.println(ComputerWrite);
    }
  }
}

void Rotate() {
  // rotate the servos to the coordinates  received thru serial
  // because the servo rotates in the oposite direction,  we have to reverse the movement
  if (ComElev >90){                // if received  elevation more than 90 deg
    ComElev = 180-ComElev;         // keep it below  90
    ComAzim = (180+ComAzim)%360;   // and flip the antenna
  }
  if  (ComAzim > 180) {              // if azim more than 180 deg
      AzServo.write(360-ComAzim);   // flip the antenna
      ElServo.write(180-ComElev);
    }
    else  {
      AzServo.write(180-ComAzim);
      ElServo.write(ComElev);
    }
}

void  DisplayPosition() {
  // display values
/*  
  display.clearDisplay();
  display.setCursor(0,28);
  display.print(ComAzim);
  display.print(" /  ");
  display.print(ComElev);
  display.display();
*/
}

servos_easycom2_apr2021

arduino

AZ/EL Rotator toy controller for Arduino with servos Uses EasyComm2 protocol for computer - Tracking Software Two servomotors to move the antenna in Az (360 deg) and El (90 deg)

1/*  AZ/EL Rotator toy controller for Arduino with servos
2 *  ========================================================
3
4  *  Uses EasyComm2 protocol for computer - Tracking Software
5 *  servomotors to
6  move the antenna in Az (360 deg) and El (90 deg)
7 *  
8 *  Viorel Racoviteannu
9
10  *  https://www.youtube.com/channel/UCiRLZX0bV9rS04BGAyUf-fA
11 *  https://racov.ro
12
13  *  YO3RAK@gmail.com
14 *  
15 * I cannot take any responsibility for missuse of
16  this code
17 * or any kind of damage it may occur from using this code.
18 * 
19
20  */
21#include <Wire.h>
22/*
23#include <Adafruit_GFX.h>
24#include <Adafruit_SSD1306.h>
25#include
26  <Fonts/FreeSans18pt7b.h>
27#include <Fonts/FreeSans12pt7b.h>
28Adafruit_SSD1306
29  display(4);
30*/
31#include <Servo.h>
32Servo AzServo;  // create servo object
33  to control the azimuth servo
34Servo ElServo;  // create servo object to control
35  the elevation servo
36
37  String Azimuth = "";
38  String Elevation = "";
39
40  String ComputerRead = "";
41  String ComputerWrite = "";
42  int ComAzim
43  = 0;
44  int ComElev = 0;
45
46void setup()   {
47  Serial.begin(9600);
48
49  Serial.setTimeout(50);           // miliseconds to wait for USB sata. Default
50  1000
51/*
52  display.begin(SSD1306_SWITCHCAPVCC, 0x3C);  // initialize with the
53  I2C addr 0x3C (for the 128x32)
54  display.display();    
55  display.setTextColor(WHITE);
56
57  display.setFont(&FreeSans12pt7b);
58  delay(2000);
59  display.clearDisplay();
60                     // Clear the buffer
61  
62  display.setCursor(-3,24);
63
64  display.println("EasyComm2");
65  display.display();
66  delay (1000);
67
68  display.setFont(&FreeSans18pt7b);
69*/  
70  AzServo.attach(5);  // connect
71  Az servo to pin 5
72  ElServo.attach(6);  // connect Az servo to pin 6
73
74
75
76   /********************** make a short movement *************************/
77
78  ComAzim = 0;
79  ComElev = 40;
80  Rotate();                // center the servos
81
82  delay(100);
83  for (ComAzim = 0; ComAzim <= 45; ComAzim += 1) { // goes from
84  0 degrees to 45 degrees
85    // in steps of 1 degree
86    Rotate();              //
87  tell servo to go to position
88    delay(20);             // waits 20ms for the
89  servo to reach the position
90  }
91  for (ComElev = 20; ComElev <= 75; ComElev
92  += 1) {
93    Rotate();
94    delay(20);
95  }
96  ComAzim = 0;
97  ComElev
98  = 35;
99  Rotate();
100  DisplayPosition();
101
102}
103
104void loop() {
105
106
107  if (Serial.available()){
108    SerComm();
109    Rotate();
110    DisplayPosition();
111  
112    delay (100);
113  }
114  
115}
116
117void SerComm() {
118  // initialize
119  readings
120  ComputerRead = "";
121  Azimuth = "";
122  Elevation = "";
123
124
125  while(Serial.available()) {
126    ComputerRead= Serial.readString();  // read
127  the incoming data as string
128//    Serial.println(ComputerRead);     // echo the
129  reception for testing purposes
130  }
131  
132// looking for command <AZxxx.x>
133
134    for (int i = 0; i <= ComputerRead.length(); i++) {
135     if ((ComputerRead.charAt(i)
136  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')){ // if read AZ
137      for (int j =
138  i+2; j <= ComputerRead.length(); j++) {
139        if (isDigit(ComputerRead.charAt(j)))
140  {                                // if the character is number
141          Azimuth
142  = Azimuth + ComputerRead.charAt(j);
143        }
144        else {break;}
145      }
146
147     }
148    }
149    
150// looking for command <ELxxx.x>
151    for (int i =
152  0; i <= (ComputerRead.length()-2); i++) {
153      if ((ComputerRead.charAt(i) ==
154  'E')&&(ComputerRead.charAt(i+1) == 'L')){ // if read EL
155        if ((ComputerRead.charAt(i+2))
156  == '-') {
157          ComElev = 0;                  // if elevation negative
158
159          break;
160        }
161        for (int j = i+2; j <= ComputerRead.length();
162  j++) {
163          if (isDigit(ComputerRead.charAt(j))) {                               //
164  if the character is number
165            Elevation = Elevation + ComputerRead.charAt(j);
166
167          }
168          else {break;}
169        }
170      }
171    }
172    
173//
174  if <AZxx> received
175    if (Azimuth != ""){
176      ComAzim = Azimuth.toInt();
177
178      ComAzim = ComAzim%360;          // keeping values between limits(for trackers
179  with more than 360 deg. rotation)
180      }
181
182// if <ELxx> received
183    if
184  (Elevation != ""){
185      ComElev = Elevation.toInt();
186      if (ComElev>180)
187  { ComElev = 0;}
188      if (ComElev>90) {               //if received more than
189  90deg. (for trackers with 180deg. elevation)
190        ComElev = 180-ComElev;        //keep
191  below 90deg.
192        ComAzim = (ComAzim+180)%360;  //and rotate the antenna on
193  the back
194      }
195    }
196
197// looking for <AZ EL> interogation for antenna
198  position
199  for (int i = 0; i <= (ComputerRead.length()-4); i++) {
200    if ((ComputerRead.charAt(i)
201  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')&&(ComputerRead.charAt(i+3) == 'E')&&(ComputerRead.charAt(i+4)
202  == 'L')){
203    // send back the antenna position <+xxx.x xx.x>
204      ComputerWrite
205  = "+"+String(ComAzim)+".0 "+String(ComElev)+".0";
206      Serial.println(ComputerWrite);
207
208    }
209  }
210}
211
212void Rotate() {
213  // rotate the servos to the coordinates
214  received thru serial
215  // because the servo rotates in the oposite direction,
216  we have to reverse the movement
217  if (ComElev >90){                // if received
218  elevation more than 90 deg
219    ComElev = 180-ComElev;         // keep it below
220  90
221    ComAzim = (180+ComAzim)%360;   // and flip the antenna
222  }
223  if
224  (ComAzim > 180) {              // if azim more than 180 deg
225      AzServo.write(360-ComAzim);
226   // flip the antenna
227      ElServo.write(180-ComElev);
228    }
229    else
230  {
231      AzServo.write(180-ComAzim);
232      ElServo.write(ComElev);
233    }
234}
235
236void
237  DisplayPosition() {
238  // display values
239/*  
240  display.clearDisplay();
241
242  display.setCursor(0,28);
243  display.print(ComAzim);
244  display.print(" /
245  ");
246  display.print(ComElev);
247  display.display();
248*/
249}

/*  AZ/EL Rotator toy controller for Arduino with servos
 *  ========================================================

  *  Uses EasyComm2 protocol for computer - Tracking Software
 *  servomotors to
  move the antenna in Az (360 deg) and El (90 deg)
 *  
 *  Viorel Racoviteannu

  *  https://www.youtube.com/channel/UCiRLZX0bV9rS04BGAyUf-fA
 *  https://racov.ro

  *  YO3RAK@gmail.com
 *  
 * I cannot take any responsibility for missuse of
  this code
 * or any kind of damage it may occur from using this code.
 * 

  */
#include <Wire.h>
/*
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include
  <Fonts/FreeSans18pt7b.h>
#include <Fonts/FreeSans12pt7b.h>
Adafruit_SSD1306
  display(4);
*/
#include <Servo.h>
Servo AzServo;  // create servo object
  to control the azimuth servo
Servo ElServo;  // create servo object to control
  the elevation servo

  String Azimuth = "";
  String Elevation = "";

  String ComputerRead = "";
  String ComputerWrite = "";
  int ComAzim
  = 0;
  int ComElev = 0;

void setup()   {
  Serial.begin(9600);

  Serial.setTimeout(50);           // miliseconds to wait for USB sata. Default
  1000
/*
  display.begin(SSD1306_SWITCHCAPVCC, 0x3C);  // initialize with the
  I2C addr 0x3C (for the 128x32)
  display.display();    
  display.setTextColor(WHITE);

  display.setFont(&FreeSans12pt7b);
  delay(2000);
  display.clearDisplay();
                     // Clear the buffer
  
  display.setCursor(-3,24);

  display.println("EasyComm2");
  display.display();
  delay (1000);

  display.setFont(&FreeSans18pt7b);
*/  
  AzServo.attach(5);  // connect
  Az servo to pin 5
  ElServo.attach(6);  // connect Az servo to pin 6



   /********************** make a short movement *************************/

  ComAzim = 0;
  ComElev = 40;
  Rotate();                // center the servos

  delay(100);
  for (ComAzim = 0; ComAzim <= 45; ComAzim += 1) { // goes from
  0 degrees to 45 degrees
    // in steps of 1 degree
    Rotate();              //
  tell servo to go to position
    delay(20);             // waits 20ms for the
  servo to reach the position
  }
  for (ComElev = 20; ComElev <= 75; ComElev
  += 1) {
    Rotate();
    delay(20);
  }
  ComAzim = 0;
  ComElev
  = 35;
  Rotate();
  DisplayPosition();

}

void loop() {


  if (Serial.available()){
    SerComm();
    Rotate();
    DisplayPosition();
  
    delay (100);
  }
  
}

void SerComm() {
  // initialize
  readings
  ComputerRead = "";
  Azimuth = "";
  Elevation = "";


  while(Serial.available()) {
    ComputerRead= Serial.readString();  // read
  the incoming data as string
//    Serial.println(ComputerRead);     // echo the
  reception for testing purposes
  }
  
// looking for command <AZxxx.x>

    for (int i = 0; i <= ComputerRead.length(); i++) {
     if ((ComputerRead.charAt(i)
  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')){ // if read AZ
      for (int j =
  i+2; j <= ComputerRead.length(); j++) {
        if (isDigit(ComputerRead.charAt(j)))
  {                                // if the character is number
          Azimuth
  = Azimuth + ComputerRead.charAt(j);
        }
        else {break;}
      }

     }
    }
    
// looking for command <ELxxx.x>
    for (int i =
  0; i <= (ComputerRead.length()-2); i++) {
      if ((ComputerRead.charAt(i) ==
  'E')&&(ComputerRead.charAt(i+1) == 'L')){ // if read EL
        if ((ComputerRead.charAt(i+2))
  == '-') {
          ComElev = 0;                  // if elevation negative

          break;
        }
        for (int j = i+2; j <= ComputerRead.length();
  j++) {
          if (isDigit(ComputerRead.charAt(j))) {                               //
  if the character is number
            Elevation = Elevation + ComputerRead.charAt(j);

          }
          else {break;}
        }
      }
    }
    
//
  if <AZxx> received
    if (Azimuth != ""){
      ComAzim = Azimuth.toInt();

      ComAzim = ComAzim%360;          // keeping values between limits(for trackers
  with more than 360 deg. rotation)
      }

// if <ELxx> received
    if
  (Elevation != ""){
      ComElev = Elevation.toInt();
      if (ComElev>180)
  { ComElev = 0;}
      if (ComElev>90) {               //if received more than
  90deg. (for trackers with 180deg. elevation)
        ComElev = 180-ComElev;        //keep
  below 90deg.
        ComAzim = (ComAzim+180)%360;  //and rotate the antenna on
  the back
      }
    }

// looking for <AZ EL> interogation for antenna
  position
  for (int i = 0; i <= (ComputerRead.length()-4); i++) {
    if ((ComputerRead.charAt(i)
  == 'A')&&(ComputerRead.charAt(i+1) == 'Z')&&(ComputerRead.charAt(i+3) == 'E')&&(ComputerRead.charAt(i+4)
  == 'L')){
    // send back the antenna position <+xxx.x xx.x>
      ComputerWrite
  = "+"+String(ComAzim)+".0 "+String(ComElev)+".0";
      Serial.println(ComputerWrite);

    }
  }
}

void Rotate() {
  // rotate the servos to the coordinates
  received thru serial
  // because the servo rotates in the oposite direction,
  we have to reverse the movement
  if (ComElev >90){                // if received
  elevation more than 90 deg
    ComElev = 180-ComElev;         // keep it below
  90
    ComAzim = (180+ComAzim)%360;   // and flip the antenna
  }
  if
  (ComAzim > 180) {              // if azim more than 180 deg
      AzServo.write(360-ComAzim);
   // flip the antenna
      ElServo.write(180-ComElev);
    }
    else
  {
      AzServo.write(180-ComAzim);
      ElServo.write(ComElev);
    }
}

void
  DisplayPosition() {
  // display values
/*  
  display.clearDisplay();

  display.setCursor(0,28);
  display.print(ComAzim);
  display.print(" /
  ");
  display.print(ComElev);
  display.display();
*/
}

Downloadable files

Electric Diagram

Servos and board connections

Electric Diagram

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