Dual Axis Heliostat / Solar Tracker uses math for aligning with sun's position HD

Solar tracker I made of foam core board, home built servos, and an accurate DS3231 I2C Clock / Calendar and a Arduino Pro Mini. Sun alignment is done not with photo sensors, but through use of trigonometry, the inputs being UTC date, time, and current latitude and longitude. See https://github.com/jbike/helio-tracker.git for code used. Sun tracker aims solar array using Real Time Clock I2C module DS3231. Arduino Pro Mini micro controller. SN754410 dual H bridge motor driver ic. Elevation motor long shaft 6 volt 10 rpm micro motor with precision 10k, ball bearing feedback potentiometer. Azimuth motor Tokyo 60 rpm at 12 volts gear micro motor, coupled to 10T/136T toy helicopter reduction gear, shaft spindle connected to precision 10k feedback potientiometer. Helios library calculates Azimuth and Elevation. Custom made servos track the Azimuth and Elevation data. CustomServo library -electro18 by Tanay P. pin connection : motor driver input 1 : pin 5 motor driver input 2 : pin 6 motor driver input2 1 : pin 9 // added second servo -John Mc motor driver input2 2 : pin 10 //added second servo Servo feedback pin : analog 0 & analog 2 test pot pin : analog 1 (for calibration) servo / pot pins to +5 and gnd on Arduino DS3231 library by -Eric Ayars updated & simplified to 24 hr only - John Mc http://cerebralmeltdown.com/forum/index.php?topic=325.0 SunTracker_Heliostat_Program_V097.zip Gabriel Miller Compare against online sun tracker: http://www.sunearthtools.com/dp/tools/pos_sun.php Faster PWM for quiet operation: http://playground.arduino.cc/Main/TimerPWMCheatsheet #include Wire.h // for I2C communication with clock module #include Helios.h // calculates sun Azimuth and Elevation #include DS3231.h // I2C clock module library #include CustomServo.h // custom servo library Helios helios; DS3231 Clock; etc.