Code taken from Bob (miniPanTileTest)
/*****************************************************************************
* Program Name: miniPanTileTest
* Author: Bob
*
* Cycle pan and tilt through a range of motions
*
* based upon BARRAGAN <http://barraganstudio.com>
* and Scott Fitzgerald http://www.arduino.cc/en/Tutorial/Sweep
*
* ----------------------------------------------------------------------------
* Change History
* Date Ver Description
* ---------- ---- --------------------------------------------------------
* 02/25/2019 V1.0 Initial development
*****************************************************************************/
#include <Servo.h>
Servo pan; // create servo object to control the yaw servo
Servo tilt; // create servo object to control the pitch servo
/*********************************************************************
* setup()
* Called once at power on
********************************************************************/
void setup() {
Serial.begin(115200);
Serial.println("");
pan.attach(9); // attaches the servo on pin 12 to the servo object
tilt.attach(8); // attaches the servo on pin 13 to the servo object
}
/*********************************************************************
* loop()
* Main processing loop. Called after setup()
********************************************************************/
void loop() {
/*Check left/right and center movement*/
Serial.println("Pan Control");
for(int i=90; i<180; i++) { pan.write(i); delay(25); }
for(int i=180; i>0; i--) { pan.write(i); delay(25); }
for(int i=0; i<90; i++) { pan.write(i); delay(25); }
/*Check up/down and center movement*/
Serial.println("Tilt Control");
for(int i=90; i<145; i++) { tilt.write(i); delay(25); }
for(int i=145; i>10; i--) { tilt.write(i); delay(25); }
for(int i=10; i<90; i++) { tilt.write(i); delay(25); }
/*Move both servos at the same time(ish)*/
int pmin=10; //right
int pmax=170; //left
int ppos=90; //current position
int pinc=1; //movement increment in degrees
int tmin=10; //top
int tmax=145; //bot
int tpos=90; //current position
int tinc=3; //movement increment in degrees
/*go through cycle twice */
Serial.println("Dual Control");
for(int i=0; i<(180*2); i++) {
ppos += pinc; //increment to next position
if(ppos > pmax) {ppos=pmax; pinc = -1;} //check for limit, change direction if necessary
if(ppos < pmin) {ppos=pmin; pinc = 1;} //check for limit, change direction if necessary
tpos += tinc; //increment to next position
if(tpos > tmax) {tpos=tmax; tinc = -3;} //check for limit, change direction if necessary
if(tpos < tmin) {tpos=tmin; tinc = 3;} //check for limit, change direction if necessary
pan.write(ppos); //move servo
delay(20);
tilt.write(tpos); //move other servo
delay(20); //some delay
}
/*set pan/tilt to center */
for(int i=ppos; i!=90; i+=(ppos < 90 ? 1 : -1)) { pan.write(i); delay(25); }
for(int i=tpos; i!=90; i+=(tpos < 90 ? 1 : -1)) { tilt.write(i); delay(25); }
delay(10000); //wait 10 seconds and do again
}