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Updated for use with the TMC2208 stepper drivers.
Added some acceleration controls.

pan_tilt_mount_nano_code_tmc2208/panTiltMount.h

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+#ifndef PANTILTMOUNT_H
+#define PANTILTMOUNT_H
+
+/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+#define BAUD_RATE 57600
+
+#define PIN_LED_DATA A0
+#define PIN_SHUTTER_TRIGGER A1
+#define PIN_PAN_HALL A3
+#define PIN_TILT_HALL A4
+#define PIN_INPUT_VOLTAGE A5
+#define PIN_ENABLE 12
+#define PIN_MS1 11
+#define PIN_MS2 10
+#define PIN_STEP_SLIDER 8
+#define PIN_DIRECTION_SLIDER 7
+#define PIN_STEP_TILT 6
+#define PIN_DIRECTION_TILT 5
+#define PIN_STEP_PAN 4
+#define PIN_DIRECTION_PAN 3
+#define PIN_SLIDER_HALL 2
+
+#define HALF_STEP 2
+#define QUARTER_STEP 4
+#define EIGHTH_STEP 8
+#define SIXTEENTH_STEP 16
+
+#define SLIDER_PULLEY_TEETH 36
+#define PAN_GEAR_RATIO 8.4705882352941176470588235294118 //144/17 teeth
+#define TILT_GEAR_RATIO 3.047619047619047619047619047619 //64/21 teeth
+
+#define MAX_STRING_LENGTH 10
+#define KEYFRAME_ARRAY_LENGTH 20
+
+#define SHUTTER_DELAY 200
+
+#define INSTRUCTION_BYTES_SLIDER_PAN_TILT_SPEED 4
+#define INSTRUCTION_STEP_MODE 'm'
+#define INSTRUCTION_PAN_DEGREES 'p'
+#define INSTRUCTION_TILT_DEGREES 't'
+#define INSTRUCTION_SET_HOME 'h'
+#define INSTRUCTION_ENABLE 'e'
+#define INSTRUCTION_SET_PAN_SPEED 's'
+#define INSTRUCTION_SET_TILT_SPEED 'S'
+#define INSTRUCTION_INVERT_PAN 'i'
+#define INSTRUCTION_INVERT_TILT 'I'
+#define INSTRUCTION_SET_PAN_HALL_OFFSET 'o'
+#define INSTRUCTION_SET_TILT_HALL_OFFSET 'O'
+#define INSTRUCTION_SET_HOMING 'H'
+#define INSTRUCTION_TRIGGER_SHUTTER 'c'
+#define INSTRUCTION_AUTO_HOME 'A'
+#define INSTRUCTION_DEBUG_STATUS 'R'
+#define INSTRUCTION_PAN_RUN_SPEED 'k'
+#define INSTRUCTION_TILT_RUN_SPEED 'K'
+#define INSTRUCTION_EXECUTE_MOVES ';'
+#define INSTRUCTION_ADD_POSITION '#'
+#define INSTRUCTION_STEP_FORWARD '>'
+#define INSTRUCTION_STEP_BACKWARD '<'
+#define INSTRUCTION_JUMP_TO_START '['
+#define INSTRUCTION_JUMP_TO_END ']'
+#define INSTRUCTION_EDIT_ARRAY 'E'
+#define INSTRUCTION_ADD_DELAY 'd'
+#define INSTRUCTION_EDIT_DELAY 'D'
+#define INSTRUCTION_CLEAR_ARRAY 'C'
+#define INSTRUCTION_SAVE_TO_EEPROM 'U'
+#define INSTRUCTION_PANORAMICLAPSE 'L'
+#define INSTRUCTION_ANGLE_BETWEEN_PICTURES 'b'
+#define INSTRUCTION_DELAY_BETWEEN_PICTURES 'B'
+#define INSTRUCTION_TIMELAPSE 'l'
+#define INSTRUCTION_SLIDER_MILLIMETRES 'x'
+#define INSTRUCTION_INVERT_SLIDER 'j'
+#define INSTRUCTION_SET_SLIDER_SPEED 'X'
+#define INSTRUCTION_ORIBIT_POINT '@'
+#define INSTRUCTION_CALCULATE_TARGET_POINT 'T'
+#define INSTRUCTION_ACCEL_ENABLE 'a'
+#define INSTRUCTION_PAN_ACCEL_INCREMENT_DELAY 'q'
+#define INSTRUCTION_TILT_ACCEL_INCREMENT_DELAY 'Q'
+#define INSTRUCTION_SLIDER_ACCEL_INCREMENT_DELAY 'w'
+#define INSTRUCTION_SCALE_SPEED 'W'
+
+#define EEPROM_ADDRESS_HOMING_MODE 0
+#define EEPROM_ADDRESS_PAN_MAX_SPEED 17
+#define EEPROM_ADDRESS_TILT_MAX_SPEED 21
+#define EEPROM_ADDRESS_HALL_PAN_OFFSET 33
+#define EEPROM_ADDRESS_HALL_TILT_OFFSET 37
+#define EEPROM_ADDRESS_INVERT_PAN 41
+#define EEPROM_ADDRESS_INVERT_TILT 42
+#define EEPROM_ADDRESS_MODE 43
+#define EEPROM_ADDRESS_DEGREES_PER_PICTURE 45
+#define EEPROM_ADDRESS_PANORAMICLAPSE_DELAY 49
+#define EEPROM_ADDRESS_SLIDER_MAX_SPEED 70
+#define EEPROM_ADDRESS_SLIDER_ACCELERATION 74
+#define EEPROM_ADDRESS_INVERT_SLIDER 78
+#define EEPROM_ADDRESS_ACCELERATION_ENABLE 79
+#define EEPROM_ADDRESS_PAN_ACCEL_INCREMENT_DELAY 80
+#define EEPROM_ADDRESS_TILT_ACCEL_INCREMENT_DELAY 82
+#define EEPROM_ADDRESS_SLIDER_ACCEL_INCREMENT_DELAY 84
+
+#define LED_TYPE WS2812B
+#define COLOR_ORDER GRB
+#define NUM_LEDS 1
+#define BRIGHTNESS 255
+
+#define VERSION_NUMBER "Version: 3.9.4\n"
+
+/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+struct KeyframeElement {
+    long panStepCount = 0;
+    float panSpeed = 0;
+    long tiltStepCount = 0;
+    float tiltSpeed = 0;
+    long sliderStepCount = 0;
+    float sliderSpeed = 0;
+    int msDelay = 0;
+};
+
+struct FloatCoordinate {
+    float x;
+    float y;
+    float z;
+};
+
+struct LinePoints {
+    float x0;
+    float y0;
+    float x1;
+    float y1;
+};
+
+/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+void initPanTilt(void);
+void serialFlush(void);
+void enableSteppers(void);
+void setStepMode(int);
+void serialData(void);
+void mainLoop(void);
+void panDegrees(float);
+void tiltDegrees(float);
+void debugReport(void);
+bool findHome(void);
+float getBatteryVoltage(void);
+float getBatteryPercentage(void);
+float boundFloat(float, float, float);
+float panDegreesToSteps(float);
+float tiltDegreesToSteps(float);
+float panStepsToDegrees(long);
+float panStepsToDegrees(float);
+float tiltStepsToDegrees(long);
+float tiltStepsToDegrees(float);
+int addPosition(void);
+void clearKeyframes(void);
+void executeMoves(int);
+void moveToIndex(int);
+void gotoFirstKeyframe(void);
+void gotoLastKeyframe(void);
+void editKeyframe(void);
+void addDelay(unsigned int ms);
+void editDelay(unsigned int ms);
+void printKeyframeElements(void);
+void saveEEPROM(void);
+void printEEPROM(void);
+void setEEPROMVariables(void);
+void invertPanDirection(bool);
+void invertTiltDirection(bool);
+int setTargetPositions(float, float, float);
+void toggleAutoHoming(void);
+void triggerCameraShutter(void);
+void panoramiclapseInterpolation(float, float, float, float, float, float, float, unsigned long);
+void panoramiclapse(float, unsigned long, int);
+long sliderMillimetresToSteps(float);
+float sliderStepsToMillimetres(long);
+void sliderMoveTo(float);
+void invertSliderDirection(bool);
+void timelapse(unsigned int, unsigned long);
+bool calculateTargetCoordinate(void);
+void interpolateTargetPoint(FloatCoordinate);
+void toggleAcceleration(void);
+void scaleKeyframeSpeed(float);
+
+/*------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+#endif

pan_tilt_mount_nano_code_tmc2208/pan_tilt_mount_nano_code_tmc2208.ino

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+/*--------------------------------------------------------------------------------------------------------------------------------------------------------
+ * 
+ * CHECK THE CODE FOR "TODO:" AND EDIT APPROPRIATELY 
+ * 
+ * The code is developed for a 3D printed pan/tilt/slider mount for a Canon EOS 250D DSLR. It is controlled by an Arduino Nano, JDY-31 Bluetooth module, 
+ * TMC2208 stepper motor drivers and some custom circuitry.
+ * 
+ * Pan Tilt Mount STL files: https://www.thingiverse.com/thing:4316563
+ * 
+ * Project videos: https://youtu.be/uJO7mv4-0PY
+ *                 https://youtu.be/v1b7Wvu87-U
+ * All measurements are in SI units unless otherwise specified.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 
+ * IN THE SOFTWARE
+ * 
+ * Code written by isaac879
+ * 
+ * Last modified: 22/07/2020
+ *
+ *--------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+//TODOs:
+//EEPROM values will need to be set after uploading the code and then a reset is required.
+
+/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+//Future development:
+
+//Notes: note the same start/stop pos, setting accel vals,over/undershoot on changing direction/us delays, have not tested other step modes with accel
+//Comment code/more documentation
+//Efficiency improvements
+
+/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+#include "panTiltMount.h"
+
+/*--------------------------------------------------------------------------------------------------------------------------------------------------------*/
+
+void setup(){
+    initPanTilt();
+}
+
+void loop(){
+    mainLoop();
+}