Just wondering, why bother counting pulses?

Wouldn't you only need 360° rotation, 90° elevation and not sure for skew?

Since you haven't tackled the tracking yet, would it be simpler to just "move" as long as a button is pressed on the handheld?

Or, maybe enter a degree and go to that position (a rotary encoder on the devices can track where it's pointed).

Just tossing thoughts.

Robert