[Idaman323]

So would it be something like this or am I doing it wrong?

	if(pan_error > (int)Tracking_Config_Data.Pan_Allowable_Error)
			
                 pwm01 = 200

			else if(pan_error < -1 * (int)Tracking_Config_Data.Pan_Allowable_Error)
			{
				// calculate how far we need to step the pan servo
				servo_step = pan_error / (int)Tracking_Config_Data.Pan_Gain;

                pwm01 = 60

			}

Is it anythign even relativly close to this..? Maybe someoen could helpme with this part.

Also.. this is the code for the Pan. But what now for the Tilt?