//two servos connected to a picavet (kite aerial photography)
//with auto movement of the servos
//
//Rein Velt (rein@mechanicape.com)

#include <Servo.h>
Servo servopan;
Servo servotilt;

int panMinimum=10;
int panAngle=90;
int panMaximum=170;

int tiltMinimum=0;
int tiltAngle=90;
int tiltMaximum=100;//we dont want to look up, only forward and down

int panIncrement=1;
int tiltIncrement=10;
int delayTime=1000; 
;

void setup()
{
  Serial.begin(38400);
  servopan.attach(10);
  servotilt.attach(9);

}


void loop()
{
  panAngle=panAngle+panIncrement;

  //do the pan stuff (moving the servo from left to right and vice versa)
  if (panAngle>=panMaximum || panAngle<=panMinimum)
  {
    panIncrement=panIncrement*-1;
    panAngle=panAngle+panIncrement;
    tiltAngle=tiltAngle+tiltIncrement;
  }

  //do the tilt stuff (moving the servo from up to down and vice versa)
  if (tiltAngle>=tiltMaximum || tiltAngle<=tiltMinimum)
  {
    tiltIncrement=tiltIncrement*-1;
    tiltAngle=tiltAngle+tiltIncrement;
  }

  servopan.write(panAngle);
  servotilt.write(tiltAngle);

  delay(delayTime);
}