I managed to get this compiled, communicating with gpredict, and controlling the motors… but I couldn’t get it to behave in a predictable way… maybe I don’t understand, I thought this just allows the crossing of the meridian line instead of a full rotation from 0-360… it would do some very random things as I was sending it manual commands from gpredict… as I increased the azimuth at a certain point it would stop that direction and spin around the opposite direction. It seemed to have a mind of its own!