360 Degree Servo Motor Using Stepper - Arduino

Hi Everyone,

I want to produce own servo motor using stepper motor because i need full rotational servo motor. This servo will allow clear tracking to my antenna tracker, i want to use it horizontal movement mechanism. For this mechanism we can think it our UAV moves in two dimensional coordinate plane which x-axis and y-axis.

If i want to completely track the UAV there shouldn't be any obstacle on my movement as both software and hardware. We can think our movement as a scanning the half sphere, for doing this we need two movement point i want to name it horizontal movement mechanism and vertical movement mechanism. For the full scanning  i can set horizontal movement mechanism to 0-360 degree and vertical movement mechanism 0-90 degrees. Or we can set them both 0-180 degree. In both side we can scan the area clearly.





I want to choose first one because in second one there are two critical point if i use. However i want to use it smoothly. At this position i have another problem. I should develop own servo motor because i need full rotation.

Here it is my solution :




Here the code :

#include <AFMotor.h>

AF_Stepper motor(200, 1);
int x =0;
int xold =0;

void setup() {
  motor.setSpeed(40);  // 10 rpm    
}
void loop() {
  int mutlak = abs(x-xold);
  if(x-xold >0 && mutlak <= 180)
 {
  motor.step((x-xold)*5/9, FORWARD, SINGLE); 
  delay(500);
  xold = x;
 }
  if(x-xold <0 && mutlak <= 180)
 {
  motor.step((mutlak)*5/9, BACKWARD, SINGLE); 
  delay(500);
  xold = x;
 }
 if(x-xold >0 && mutlak > 180)
 {
  motor.step((xold+360-x)*5/9, BACKWARD, SINGLE); 
  delay(500);
  xold = x;
 }
  if(x-xold < 0 && mutlak > 180)
 {
  motor.step((x+360-xold)*5/9, FORWARD, SINGLE); 
  delay(500);
  xold = x;
 } 

}