@@ -13,6 +13,16 @@ int posTilt =         A0;

 int posPan =          A1;

 int motorSpeedStat =   0;

+int speedStatus = 0;

+int motorSpeed = 100;

+int gotoTilt = 70;

+

+

+int val;

+int valOld;

+char buf[12];

+char buf2[12];

+

 // Update these with values suitable for your network.

 byte mac[]    = {  0xDE, 0xED, 0xBA, 0xFE, 0xFE, 0xED };

 IPAddress ip(10, 13, 37, 165); 

@@ -48,7 +58,7 @@ void setup()

   pinMode(posTilt, INPUT);

   pinMode(posPan, INPUT);

-  Serial.begin(9600);

+  Serial.begin(115200);

   Ethernet.begin(mac, ip);

   client.setBufferSize(255);

@@ -85,8 +95,22 @@ void loop()

     reconnect();

   }

   client.loop();

-

-

+val = analogRead(posTilt);

+//Serial.println(val);

+val = map(val, 0, 902, 0, 90);

+if (((val - valOld) > 1) || ((valOld - val) > 1)) {  

+  if(speedStatus == 0) {

+    motorSpeed = map(abs((val - gotoTilt)), 5, 20, 30, 100);

+    if (motorSpeed < 30) { motorSpeed = 30; }

+    if (motorSpeed > 100) { motorSpeed = 100; }

+    client.publish("hamradio/rotator/motor/speed", itoa(motorSpeed, buf2, 10));

+  }

+  valOld = val;

+  client.publish("hamradio/rotator/pos/tilt", itoa(val, buf, 10));

+  delay(15);

+  Serial.println(analogRead(posTilt));

+}

+delay(15);

 }