After I’ve designed the schematics and made the PCB for the rotator, I put it together:

I’ll upload the schematics & source code when I finish the project. I’m using a wonderful PICKit2 programmer/debugger and Hi-Tech C compiler to make my life easier.

The program is almost finished, I hope I can put the whole rotator together by tomorrow evening, and accomplish the first tests with my big yagi in 2 days.