I built and balanced the Elevation/theta arm and set the system up in a tripod from a previous build. The good news is that after some messing with, it works. It still needs some more messing with. Mostly, the move velocities are too high. I thumbnailed 15 seconds for a full revolution, but 30 seconds or even a minute would make more sense, given the size and weight of this piece. Another piece of good news is that the motor noise is not as bad as I though it would be. The wooden stand that the initial testing was done in must be acting like a sounding board and making the noise louder.

The move velocity change is an easy fix, change a #define, recompile and load the new image into the hardware.