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Hi,
there must be some formula out there for alt/az tracking as the auto tracking dobs that come out these days are pretty good at keeping planets in the FOV for an hour and it'd be interesting to see how they do it.
the formula or algorithm might be quite complex as it would depend on the position at any point in time, distance from the pole and/or distance from the celestial equator, alt rate and az rate would vary differently at different points in the sky.
havent found any methods so far though.
would you have details on the geared stepper you're looking at?
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