Build your own Arduino-controlled camera slider!

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Made with Layers (Thomas Sanladerer)

Made with Layers (Thomas Sanladerer)

Күн бұрын

Пікірлер: 170
@Jeff121456
@Jeff121456 7 жыл бұрын
I would suggest end-stops just for a sanity check (emergency shutoff). Certainly if you expect to leave expensive equipment on this unsupervised.
@IanSRutter
@IanSRutter 7 жыл бұрын
Finally I have found a great slider. Thanks for what you have done. I will start this after I finish helping my son with his arduino robot. Thanks again.
@janhagedorn
@janhagedorn 7 жыл бұрын
I guess this will be my first Arduino project then! Been considering building a slider for quite some time now and this one hits a perfect balance of features and expandability, thanks for sharing Tom!
@janhagedorn
@janhagedorn 7 жыл бұрын
Ok, thanks for the hint. Gotta love Adafruit anyways, what they are doing is awesome.
@RobinCernyMitSuffix
@RobinCernyMitSuffix 7 жыл бұрын
Or use a HD44780 compatible character display. Cheap, easy to use und enough space for such a small project ;)
@UDoIt2
@UDoIt2 7 жыл бұрын
My coworker shared this with me. Thank you for making your design open source.
@UDoIt2
@UDoIt2 7 жыл бұрын
This is a great message!!! This is what I do but I haven't been able to put it to words like you did here.
@marekzawada6250
@marekzawada6250 2 жыл бұрын
Great project!! The timelapses are stunning. Astrophotograpchy Cool.
@theeds
@theeds 7 жыл бұрын
good timing! I was just thinking about making one of these for my next project. I made a 3 axis gimbal for my DSLR last week and it works great.
@ajmckay2
@ajmckay2 7 жыл бұрын
awesome video and camera slider! I agree with your idea to clean up the electronics area. even putting a back cover on would help quite a bit.
@ALiSaPHieN
@ALiSaPHieN 7 жыл бұрын
Dude, you are one of the best quality youtubers out there. Great job and thanks.
@makermonkey6591
@makermonkey6591 7 жыл бұрын
You are becoming one of my youtube favourites. Well done.
@patrickgonda8238
@patrickgonda8238 7 жыл бұрын
Tom your videos look extremely professional but when you brought up that circuit diagram you really made me chuckle, it looks like straight out of MS Paint, look on the diagrams on Arduinos website for clean and pro looking diagrams because it really breaks the "flow" of the video.
@nicomichiels1050
@nicomichiels1050 7 жыл бұрын
Thomas Sanladerer maybe you can use fritzing.org that looks great :D
@FuriouSoul
@FuriouSoul 7 жыл бұрын
Yeah, wish I could see how you wired it all up a little better. I am having trouble with my encoder not moving through the menu correctly, can't change the time without messing with it. Tried to rewire the Clk, DT, and SW pins in every combination, but no luck. You have them labled as ENC 0 and ENC 1 in the sketch and S1 and g2 (not really sure if that's a g) but I am all kinds of confused now.
@loremipsum3454
@loremipsum3454 7 жыл бұрын
Hello Can you confirm if you got this circuit running? I got the pin-out correct for Encoder and works as it should...but no movement in my motor...:( Appreciate your help if you would let me know and if my uploaded below diagram is correct. app.box.com/s/66d412frc23q4plaji25w6yjyw5mocva I tried all options…as per Thomas wiring, and external power to (Polulu A4988) Motor Driver… I don’t get any movement in step motor … Thanks.
@johnkozinsky
@johnkozinsky 5 жыл бұрын
I would like to know what the program you used is?
@HIEPPIEFUSARO
@HIEPPIEFUSARO 7 жыл бұрын
Best electronic schematic ever! 10/10 no scoop 360(?
@kingsmod8777
@kingsmod8777 4 жыл бұрын
Built something similar with pan and tilt and mostly 3d printed. will make a video soon. Thanks for the inspiration
@HariWiguna
@HariWiguna 7 жыл бұрын
Thanks for sharing your "secret" for getting those super-smooth moving time-lapses! You've inspired me to build one too.
@RookieReefer
@RookieReefer 6 жыл бұрын
Great video! Would I be able to use a 12v battery pack without changing components? Mainly resistors I guess. Appreciate it 👍
@fernandojerez3444
@fernandojerez3444 7 жыл бұрын
Great project!! The timelapses are stunning.
@DarkArtGuitars
@DarkArtGuitars 7 жыл бұрын
I am already printing the second part, thank you so much for sharing this as I didn't have much success when I tried it myself.
@DavidGetchel
@DavidGetchel 7 жыл бұрын
Nice! I have a slider that I should motorize. Seems fairly straightforward.
@andreashanny8897
@andreashanny8897 7 жыл бұрын
Great video, but where do I find the code? On youmagine there are only the libraries, where's the sketch?
@3dPrintCreator
@3dPrintCreator 7 жыл бұрын
because of Arduino boards being slow with the screen attached, use more Arduino boards for separate tasks. let them communicate via i2c and you build a rocket fast system. one arduino for the slider motion, one arduino for the camera tilt and pan motion and a third arduino for the display and human interface. work with the interrupts to be failsafe and PLEASE add end stop switches for safety. Also, why is that bearing near the motor installed. the way I see it, there will always be friction on one of the sides?
@xshooter969
@xshooter969 6 жыл бұрын
also curious about the bearing near the bore pulley
@Veptis
@Veptis 7 жыл бұрын
hyperlapse. that is the word for a timelapse with continuous motion. combine this with dolly/upward pan and good focus control and you get yourself a nice effect. best tool to get a series of pictures into video is virtualdub. print a vase in case mode, with a consistent layer leghts. so either a straight up cylinder or a twisted cylinder. measure you layer time... or average aross 10. now set you interval slightly higher/lower for the timelapse and the result will look awesome as the print head moves slow while the print is really fast. looks like magic. try it!
@jaistanley
@jaistanley 7 жыл бұрын
Love this.. I'd like to make one that slides and has a turn-table also that could keep the camera fixed on one spot as it panns past... The maths of calculating the rate of rotation, VS linear motion and focal distance would be quite fun too.. Thanks for the video Thom! It's great to see other types of video from you: a controls engineer like you could make all sorts of awesome project videos.
@Icuosnas7
@Icuosnas7 7 жыл бұрын
You could very easily put one of those sonar-based range finders for arduino, and program in a radius value; then attach another stepper to the camera's "Z" axis and have it turn automatically... Set to auto-focus and done XD.
@TheVideoVolcano
@TheVideoVolcano 4 жыл бұрын
how does the stepper have enough power to move the camera. I made a slider (different to this) and the steppers just stall and cannot turn because the load is too much.
@DeonMitton
@DeonMitton 3 жыл бұрын
Great video - thanks Thomas!
@larrymortimer4833
@larrymortimer4833 7 жыл бұрын
Nice project Tom! Do you think you will add stops at each end, or will you program stops with the stepper motor like Falko suggests?
@CoyoteFPV
@CoyoteFPV 7 жыл бұрын
Hello Thomas, nice design, I'm printing the parts now, but making the electronics slightly different. I have a question though. In your STL files you have a shim file but do not mention where is goes in the build video or description. Where does it go ? Thanks Ian
@Auggie246
@Auggie246 7 жыл бұрын
Finally one to replace my outdated miniengine slider
@learnMax
@learnMax 7 жыл бұрын
Thomas it is awesome! I was starting to think of something similar. The one added feature I am interested in pursuing is the ability to hang the camera underneath (might be just flipping the whole thing) so some additional mounting would likely be required. Will definitely be using yours as a source of inspiration!
@Alan_AB
@Alan_AB 6 жыл бұрын
A brilliant video. Thanks Tom, i'm gonna use some of your suggestions. I'm still trying to construct a suitable pan setup for the camera so that it can "target" my subject as I shoot.
@StefsEngineering
@StefsEngineering 7 жыл бұрын
Here's your thumbs up again ;) As said in your other upload, Awesome job and I do have some ideas. I will build it and share when I am done!
@crrocky1
@crrocky1 7 жыл бұрын
This kind of projects was th e thing that brought me into 3D printing! Hope I can build one of my one! Thanks again for the video!
@Adikimenakis
@Adikimenakis 7 жыл бұрын
Can i use the slider for constructing a small cnc machine? Will they be stable enough?
@felixdietzCGN
@felixdietzCGN 7 жыл бұрын
Did you already think about cable management when adding another axis on the camera platform? I'm thinking about using the igus rail because I could fit a small e-chain in the rail and under the sled. But that stickyness-concern is right...
@andrewnorth2976
@andrewnorth2976 7 жыл бұрын
It wold be better (IMHO) if the controller also controlled the camera shutter so you could do move-shoot-move Nice project btw
@MadeWithLayers
@MadeWithLayers 7 жыл бұрын
Many modern cameras have interval shooting built in, and that's usually enough to get steady shots. The slight movement during even longer exposures has not been a problem for me so far.
@MSVSanjok
@MSVSanjok 5 жыл бұрын
@@MadeWithLayers edu puertas Did you connect the MS1, MS2, MS3 modes to the micro-step?Thank you!
@vasilshterev
@vasilshterev 7 жыл бұрын
Can't wait to build this myself!!! I do have couple of things I am not sure of and would love to get some help:) 1.Since the LCD screen goes into the 5V of the arduino and covers it, to which port should I connect the stepper driver and rotary encoder on the arduino? 2. How many Volts should the battery be?
@reblliouspear
@reblliouspear 7 жыл бұрын
Did you ever solve your first problem? This is the issue I'm having too. But the battery should be 12v.
@hypertuch
@hypertuch 5 жыл бұрын
good video. Are you using limit switches or what if the slider reacheds one of the ends ?
@mr.lumbergh7273
@mr.lumbergh7273 4 жыл бұрын
The display you used is no longer available and the new version I was able to get doesn't match up exactly with the pinout on the Mega. Would you mind the pins on the Mega and which they connect to on the display so we can connect it with jumpers if needed?
@zk_6312
@zk_6312 3 жыл бұрын
Looks good. One thought though as you say the Arduino Mega is a bit slow, you should try the Arduino Due as it is 32-bit with a faster clock and more memory. It is basically a drop in replacement for the Mega.
@techtutorpl
@techtutorpl 7 жыл бұрын
This is looking great :) I started doing similar project on my yt channel, but i am planning to control my slider via smartphone :) BTW this are great pictures you have taken with this slider :D
@motionpicture77
@motionpicture77 7 жыл бұрын
Great video. I am adding a motor to a ratrig slider. How long does an np-f950 battery last before recharge. I have these batteries for my camera rig, and it would be very practical to use this for the slider as well.
@rodrigo.guimaraes
@rodrigo.guimaraes 7 жыл бұрын
Hello Thomas, First time I'm commenting your videos, but I've been following for a while. In mid 2016 I got myself a big 3d printer.. Vulcanus Max40 (you can find it in instructables). For the last couple of months I've been thinking about developing an easy motorized slider! Thank you for the help on that part!
@kalef1234
@kalef1234 6 жыл бұрын
Does your source code support stop and go motion? I would really only use this for astrophotography time lapses where 20 to 30 second exposures are needed, requireing the slider to stop, wait, and then move. I am proficient in c++ which I see is what you used to code this thing, and I know I could add that in pretty easily myself. Just thought I'd ask! Looks like an awesome summer project!
@abcdefgh90590
@abcdefgh90590 6 жыл бұрын
Hi Kalef, Did you manage to do the stop and wait function.
@raul7293
@raul7293 3 жыл бұрын
3:36 It's April 2021 and I was wondering if anybody at this point shared the improved designs for the 3D printed parts?
@prabhakarrao4922
@prabhakarrao4922 6 жыл бұрын
Great job! Love your enthusiasm. Thank you
@RJMaker
@RJMaker 7 жыл бұрын
THANK YOU TOM, I'm going to build one!! I love it.
@paddymarsden
@paddymarsden 7 жыл бұрын
Hi Thomas, I think this is an amazing build but I'm having a few issues with the wiring. Would it be possible for you to take some close up pictures of your breadboard setup? I sorted my original problem with the code and the .h files. I also have an issue with my touchscreen which looks similar to yours but I'm curious which screen you got? The issue ive got is with the touch element not working. I'd really appreciate some help on this project. I'm purely using your guide for the electronics as i have printed a slider from Harrope.com Many thanks!!
@ElliHoy
@ElliHoy 4 жыл бұрын
Hi, an amateur tinkerer here. Would it be easier to use a regular low rpm motor with pwm?
@Hyngvi
@Hyngvi 7 жыл бұрын
Hey, awesome design! Is the torque great enough to angle the slider upwards?
@MadeWithLayers
@MadeWithLayers 7 жыл бұрын
Without a heatsink on the stepper driver, it will hold and move my Panasonic G7 + lens at up to a 45° angle. A beefier stepper driver or a geared stepper motor could significantly improve this.
@Hyngvi
@Hyngvi 7 жыл бұрын
Nice! Stronger than i imagined, will probably try and construct a similar design.
@BrasilCurtas
@BrasilCurtas 7 жыл бұрын
Hey Hilmar, I'm doing the same, i striped every LCD part of the code, got it working but the didn't managed to get the soft end-stop working, it just keeps ramming at the end. What var does it measure the distance?
@navjotsinghDhanoa
@navjotsinghDhanoa 7 жыл бұрын
I managed to get the slider running with some updated graphics. I observed that the motor doesnt stop when the time duration has passed. what method can we use to stop the stepper motor when it hits a limit switch. digitalwrite(step,LOW)?
@tylerwatt12
@tylerwatt12 7 жыл бұрын
Use fast shutter speed, then use frame blending in premiere pro for the best of both effects. Even better if you set your project to 60fps
@orlandodasilva8117
@orlandodasilva8117 6 жыл бұрын
Great Video very interesting. I have a question, it is possible with a Arduino, to program it for an "Endless Loop " Thank you
@FlowTfpv
@FlowTfpv 7 жыл бұрын
omg omg omg, i made one last year, 1mt too!!! open builds. now lets see if your controller is better than mine.....
@motionpicture77
@motionpicture77 7 жыл бұрын
Really love this slider. Got the rest of the parts from ebay this week, and I am testing the libraries and Combined Slider file. Seems I dont have the TimerOne library. Any idea where to townload this?
@reblliouspear
@reblliouspear 7 жыл бұрын
Hey did you ever find the timer one library? This is my latest issue.
@motionpicture77
@motionpicture77 7 жыл бұрын
Found a timer, but i was not able to upload the script. Came out at 160%.
@dot4636
@dot4636 6 жыл бұрын
Really good and informative video, thank you
@labomat
@labomat 6 жыл бұрын
Hi Tom, kennst Du eine Deutsche Bezugsquelle für die OpenBuild-Bauteile?
@escsun
@escsun 7 жыл бұрын
Thank you. Really very nice!
@TheRedSith
@TheRedSith 7 жыл бұрын
I get a lot of vibration with my Diy and I have a sony a6500 ;( Any help to tell me how to remove all this vibration will be much appreciated.
@Harvestcreativemedia
@Harvestcreativemedia 4 жыл бұрын
How noisy is the motor?
@Relax-Music-Thai
@Relax-Music-Thai 6 жыл бұрын
It is a very good project If it adds Time Lapse + Tigger, it must be the best project I hope this project You will develop completely soon. Thank you very much
@DoubleG1960
@DoubleG1960 7 жыл бұрын
the links in the description arrives to the main page and no to the individual products, I am speacially interested in wheels and bars (the slider itself) I am fromSpain, could you pls help me in order to find the specific materials?
@BenBrownbobthemac
@BenBrownbobthemac 7 жыл бұрын
Is there any real benefit using the openbuilds gantry set it seems quite expensive for what it is at around £27
@jedijeremy
@jedijeremy 7 жыл бұрын
Nice work, Tom! I've got two suggestions for the next-gen version: take a look at the VL53L0X "time of flight" distance sensor from adafruit. $15 gets you 1mm accuracy over 1m, would fit nicely on the arduino-end of the track, would magically eliminate the need for a remote endstop, and could detect mid-track jams too! I recently built a stepper-turntable (using parts from an old record player) but I used an ESP8266 as the main controller instead of Arduino, so that I could command it over WiFi rather than having to add physical screens and buttons to each device. (I plan to have many) It was a stupid amount of software development to shave off $20 of hardware, but let me know if that's of use to you. (I needed it for compactness reasons) ps. Yes, this is @JediJeremy from Twitter :-)
@kurtwagner6574
@kurtwagner6574 7 жыл бұрын
Very nice!
@fntsmn
@fntsmn 7 жыл бұрын
Great video is something that I want to do for sure. maybe in the next months :D
@dougsbir
@dougsbir 2 жыл бұрын
Hi great project ! could you direct me how to control one stepper motor and two endstops for now please? cheers
@dougsbir
@dougsbir 2 жыл бұрын
using arduino megaramps 1.4 i have from old 3d printer
@thebeststooge
@thebeststooge 7 жыл бұрын
My 3d printer I am building uses the Delrin solid wheels and I hate them. If you leave it sitting then the next morning it will have a flat side and no amount of tension, or lack thereof, helps that. I will never touch anything from OB again.
@MrBoXon
@MrBoXon 7 жыл бұрын
Is that the Lumix G7 you're shooting with?
@reblliouspear
@reblliouspear 7 жыл бұрын
Great video but how do I connect the bettery and everything to Vin, 5v, and ground on the arduino if I have the touchscreen shield on? I am using the Mega 2560 but Vin, 5v, and the other GND are being used by the display. Edit: Update 5/15 - I figured out the wiring, I realized there is two extra 5v pins and two extra GND pins on the mega. Now the only question that remains is where do I find TimerOne.h ?
@jasongudex4157
@jasongudex4157 7 жыл бұрын
Had the same questions and you answered it (mostly). What did you do for Vin?
@FalkoRichter
@FalkoRichter 7 жыл бұрын
The stepper should know when to. Stop if you zero it. It should have a fixed number of steps until it reaches the end. Even manual zeroing when booting it up would help, right?
@Minoguai
@Minoguai 7 жыл бұрын
where can i find the code ?
@m6proyector368
@m6proyector368 5 жыл бұрын
good video thanks. M3 threaded inserts for what need ?
@Baumi333
@Baumi333 7 жыл бұрын
Hallo Thomas, ich habe da eine Frage zu deinem Code. Wenn ich ihn auf mein Board lade (ich habe die gleiche Hardware wie du) dann wird mir nur ein weißer Bildschirm angezeigt. Libaries sind alle ok. Wenn ich ein anderes Beispiel lade, funktioniert das LCD Touch Panel. Hast du vielleicht eine Idee woran das liegen könnte. Bg Christian
@do4bmw
@do4bmw 7 жыл бұрын
habe das gleiches problem ...
@Baumi333
@Baumi333 7 жыл бұрын
Hey Benny, sag mal, hast du schon eine Lösung für unser Problem? Ich habe irgendwie das Gefühl ein teureres Display kaufen zu müssen.
@flyinlo1474
@flyinlo1474 6 жыл бұрын
What angle can this handle? I have a GH5 and wanted to be able to do vertical climbs on my rail. Thanks for the video!!
@MadeWithLayers
@MadeWithLayers 6 жыл бұрын
+timmyd I've been running my stepper drivers on the weak side to make microstepping smoother and it was able to lug a medium-weight camera setup (G7 + EF lens) up a 45° slope. With a compact lens, the GH5 isn't any heavier, so if you crank up the current a bit it might be able to handle it,
@flyinlo1474
@flyinlo1474 6 жыл бұрын
Thank you sir! Been wanting a 3D printer so I ordered an A6 to be able to print the parts :) Are you planning on putting any End Stops on this? If so I hope you do a video to help show how to add/program them.
@P0llut1on
@P0llut1on 7 жыл бұрын
great job!
@pingu99991
@pingu99991 5 жыл бұрын
Hey Tom! I'd love to see if you've updated this at all?
@alexl66
@alexl66 7 жыл бұрын
It has been a while since this video but I finally build one my self.I wrote my own software since I use another display on wanted another GUI...anyway question is when running very slow vibrations of the stepper/belt (at 1/32th stepping) re visible in the footage. I added a damper as mount between motor and motor holder but I still see it. Do you see it in your footage too? and remove it in post?
@MadeWithLayers
@MadeWithLayers 7 жыл бұрын
There is one speed where my slider will resonate - so I just go a bit faster or slower. Speeding up footage is much easier than removing shake + rolling shutter.
@alexl66
@alexl66 7 жыл бұрын
thanks, will try that
@bernardoanselmo421
@bernardoanselmo421 6 жыл бұрын
hello i am having some problems with programing... can you help me ?
@onecarwood
@onecarwood 7 жыл бұрын
This is great I love it
@JOEBLACK1979
@JOEBLACK1979 6 жыл бұрын
Awesome bro thabks for sharing
@theperpetualprocrastinator9776
@theperpetualprocrastinator9776 6 жыл бұрын
What is the screen you're using?
@Baumi333
@Baumi333 7 жыл бұрын
Hello! I Have got a bg problem. I installed all the components like Thomas (the libaries too) but when I upload the software to my andruino the screen is only white. If I upload an other sketch, it works. So I think there is maybe a problem in the sketch, but my programmer skills are very poor. Maybe someone can help me ....
@navjotsinghDhanoa
@navjotsinghDhanoa 7 жыл бұрын
I had the same issue. You mite need to change a bit of code to make it work, give this a try: comment out the following lines: //#include // Hardware-specific library //Adafruit_TFTLCD tft(LCD_CS, LCD_CD, LCD_WR, LCD_RD, LCD_RESET);
@OtroPl4n
@OtroPl4n 7 жыл бұрын
Bravo!! yhank you very much fur the information
@NoahR-di1nu
@NoahR-di1nu 7 жыл бұрын
can you show us how to make the same one without a motor
@Auggie246
@Auggie246 7 жыл бұрын
An enclosure for the arduino and other electronics would be good
@FabioFerretti3D
@FabioFerretti3D 7 жыл бұрын
thx a lot. nice design. one quick question. where do you find "V slot compatible" in europe that doen's cost you a kidney ? I go to motedis, but the groove is not realy in V shape.
@FabioFerretti3D
@FabioFerretti3D 7 жыл бұрын
thx.
@wdonders
@wdonders 7 жыл бұрын
Can't believe i actually did some googling for you :-) France: www.vslot-europe.com Netherlands: iprototype.nl/products/accessoires/construction England: ooznest.co.uk/Openbuilds Belgium: tronixmaker.com/fr/43-openbuilds Denmark: makersupplies.dk/
@FabioFerretti3D
@FabioFerretti3D 7 жыл бұрын
thx a lot ;)
@understandwithakashs1367
@understandwithakashs1367 3 жыл бұрын
How would you do it with TMC2130?
@bogdanSherback
@bogdanSherback 7 жыл бұрын
Great! That will make you content even more hi-tech. XD
@iLEXKing
@iLEXKing 7 жыл бұрын
Hello there. Thomas, tell me please, how to make this cool effect on 8:18 ???
@MadeWithLayers
@MadeWithLayers 7 жыл бұрын
Filmriot explains it best: kzbin.info/www/bejne/epfUinmEZ694kKs
@iLEXKing
@iLEXKing 7 жыл бұрын
Thomas Sanladerer thanks a lot :)
@karistuck
@karistuck 7 жыл бұрын
hi, thank you for nice video. and I looking for sketch file How can I get to arduino control file for sketch?
@mortezanouroozy3755
@mortezanouroozy3755 4 жыл бұрын
where can i find your codes
@therealdjdemond
@therealdjdemond 7 жыл бұрын
Its a cool gadget but why wire it all up that way? Why not just use a mega/ramps with one stepper driver, since they're pennies, and then use printer firmware to control the motor? You could mount the belt above the aluminium profile, like a large delta tower on its side. Just an idea.
@LemberTheMember
@LemberTheMember 7 жыл бұрын
Ahh he fixed it ☺️👍
@alexchong1979
@alexchong1979 6 жыл бұрын
my i know how much is the total cost for this Project?
@grimmsalem
@grimmsalem 7 жыл бұрын
Can you do some glamor shots with this just to show it off some more.
@raspberrypiploy771
@raspberrypiploy771 7 жыл бұрын
Its good but if it changed direction automatically at each end it would be even better. You could then set it to the slowest speed and make some good timelapse movies without having to watch it
@FlanChaves
@FlanChaves 7 жыл бұрын
The links are not working 😰
@autoelectrical1463
@autoelectrical1463 4 жыл бұрын
*_NICE_*
@MSVSanjok
@MSVSanjok 6 жыл бұрын
Nema 17 motor 42BYGH 1.7A (17HS4401S) ?
@SeekAdventureMedia
@SeekAdventureMedia 5 жыл бұрын
Where can I find the code for this project?
@lplsa6940
@lplsa6940 5 жыл бұрын
In the description is a link to Youmagine. The Code is there
Need a cheap and easy 2-axis camera slider? Look no further...
11:03
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