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72 CHAPTER 3 ■ MOTION

Figure 3-8. A class diagram of classes in section 3.3

Code Objectives
The objective in this section is to create a class to control a pan and tilt mechanism from a servo
controller.

Code Discussion

The most important part of this class is the preconfigured constants—for example, what pins
connect the servos? How far can the servos move? What are the rest positions? These are things
you’ll have to experiment with to set. The remaining fields are stepSize (how many bytes the