I just recently bought and assembled the Dual Axis Solar Tracker. After uploading the code, the Tracker swings wildly into the fully tilted position and becomes stuck there. It then yaws once all the way into the stop and stops moving. I spent a lot of time getting the zero just right per the video, but it sure looks like the code is doing two moves and then stopping. I am not sure how to proceed. I am not a code guy, and this is my first Arduino project. Can I get a full wall-to-wall description of what the code is doing and what each step is attempting to do? The comments are not full-out paragraphs with explanations so I have a long way to go.