With the arrival of the stepper motors, final touches have been completed on the tracking program.  This Turbo C DOS program runs on a PC, with outputs to a printer port to run the nano-stepper motors.  Usable ranges of smooth rotation from .5 to 200 rpm are easily obtainable.  Ramp up and ramp down works well.  The program and port also accepts motor, mount, and worm calibrations.

These two worms tested the best for our installation

The test bench

Another shot

The RA motor and driver connected to the Printer port