building dual axis solar tracker

AJITNAYAK

Dear all,

I am trying to build Dual axis solar tracker Here.

help on:
1)Flow chart algorithm for running dual axis tracker.
2)how and when axis of tracker rotated. We know dual axis has horizontal and vertical axis. When i should turn my axis.
3)how azimuth will give us sun elevation angle.

Necessary Document for project:
1)The zenith and azimuth calculated here.
Nrel code:http://www.nrel.gov/midc/spa/

2) Inlclinometer for Feedback
http://www.leveldevelopments.com/products/inclinometers/inclinometer-sensors/dual-axis-inclinometer-sensors/das-series/das-90-a-inclinometer-sensor-dual-axis-90-0-5-4-5v-out-7-35v-in/