Pan-tilt camera mount with joystick control and servo smoothing on Arduino: design worksheet and code

A ₹1,200 pan-tilt head for a small camera or a laser pointer, driven by one joystick. Two hobby servos move the head, the joystick position maps to an angle, and a simple smoothing filter takes the jerk out of the motion. The page works out the servo pulse widths so you can see what the Servo library is sending.

Scope: beginner. This is a design worksheet with illustrative costs. It has not been bench-tested by this site. The angle and pulse table below was computed by script. Small hobby servos have limited torque and travel, so keep the camera light and set end stops so the servos never push against their mechanical limits.

How it works

The joystick’s two axes are read as 0 to 1023. The sketch maps each to an angle from 10 to 170 degrees, which leaves a safety margin at both ends. Angle = 10 + reading × 160 / 1023. The middle reading of 512 gives about 90 degrees.

Without smoothing, the head would jump whenever the joystick is moved quickly. An exponential filter moves the displayed value a fraction of the way toward the new reading each loop: smoothed += 0.2 × (reading − smoothed). With a 20 ms loop that fraction gives a time constant of about 90 ms, which feels gentle without being sluggish.

The Arduino Servo library sends pulses in the range 544 to 2,400 microseconds by default for 0 to 180 degrees, about 10.3 microseconds per degree. Some servos want a narrower or wider range, so check yours.

Prices are illustrative figures for Indian sellers in November 2026, before shipping, and have not been checked against current listings.

The numbers

Two small servos moving at once can draw several hundred milliamps and the Uno’s 5 V pin cannot always supply that. Use a separate 5 V supply for the servos and join its ground to the Arduino ground.

Power and wiring

The sketch

// Pan-tilt with joystick and smoothing: Uno + 2 servos + joystick
// Design worksheet: angle limits are safety margins; check your bracket.

#include <Servo.h>

const int X_PIN = A0, Y_PIN = A1;
const int PAN_PIN = 9, TILT_PIN = 10;
const int MIN_ANGLE = 10, MAX_ANGLE = 170;
const float ALPHA = 0.2;

Servo pan, tilt;
float sx, sy;

void setup() {
  sx = analogRead(X_PIN);
  sy = analogRead(Y_PIN);
  pan.attach(PAN_PIN);
  tilt.attach(TILT_PIN);
}

void loop() {
  sx += ALPHA * (analogRead(X_PIN) - sx);
  sy += ALPHA * (analogRead(Y_PIN) - sy);
  int panAngle  = MIN_ANGLE + (int)(sx * (MAX_ANGLE - MIN_ANGLE) / 1023.0);
  int tiltAngle = MIN_ANGLE + (int)(sy * (MAX_ANGLE - MIN_ANGLE) / 1023.0);
  pan.write(panAngle);
  tilt.write(tiltAngle);
  delay(20);
}

This is position control: the head angle follows the stick position. A common alternative is rate control, where the stick sets how fast the head moves, which suits a head that must be left pointing in one direction; the first upgrade below describes it. The sketch has been proofread but not compiled on this site.

Test plan

1. Centre check: release the stick and see whether the head sits at a steady middle position.
2. End stops: push the stick to each extreme and confirm the servos stop before the mechanical limit.
3. Smoothness: flick the stick and compare with ALPHA 1.0 (no smoothing) to see the difference.
4. Load: add the camera and watch for buzzing or a drooping tilt.
5. Supply: check the Uno does not reset when both servos move.
6. Jitter: look for a small flicker of the servo at rest.

What usually goes wrong

Upgrades

• Rate control: use the stick to set speed instead of position.
• Return to centre button: add a button that recentres the head.
• Wireless: send stick values over radio or Bluetooth.
• Tracking: add a camera and software to follow a colour.

Cost and parts notes

The ₹1,200 total is an illustration and does not include shipping. Use the cost calculator to compare sellers.

Common questions

Last reviewed: November 2026. This is a design worksheet with illustrative costs. It has not been bench-tested by this site; library names, pins and limits must be checked against your board and the current library versions, and measurements from your build are welcome.