For our HAB mission, we created a servo controlled camera running on a RasPi Zero and using xChips to control/drive a servo.

Step 1: Things Used in This Project

Hardware components

Raspberry Pi Zero x 1
Get the newer version that has a camera interface. And make sure you got a Micro-USB cable to connect the Pi to your computer
XinaBox BR03 x 1
XinaBox OC05 - Servo Driver x 1
XinaBox XC10 x 1
XinaBox MD01 x 1
Really just a spacer to mount the servo on, so very optional.
Raspberry Pi Camera Module x 1
Remember to get the narrower flat cable that fits the RasPi Zero
3.7v LiPo battery (generic) x 1
Servos (Tower Pro MG996R) x 1
Any small servo with standard 2.54 mm 3 pin header cable, and mounting gear (nuts/bolts, rubber bands, cable ties, glue, or what ever is your preference)

Software apps and online services

Raspberry Pi Raspbian Lite
Balena Etcher
XinaBox OC05 Servo Driver

Step 2: Story

Using the RasPi Zero with the PIcamera, a Servo and the OC05 Servo Driver/Controller, you can shoot a panning time-lapse video.

Step 3: Preparing the SD Card for the Rasperry Pi Zero

Download Raspbian Lite and unzip
Download Etcher and install
Flash Raspbian Lite to a Micro-SD card using Etcher
Open your terminal and go to the root of the SD Card

cd /Volumes/boot
echo 'dtoverlay=dwc2' >> config.txt
touch ssh
echo -n ' modules-load=dwc2,g_ether' >> cmdline.txt

The last 3 lines set up the RasPi Zero (and only the Zero) to be able to network via the USB port. Just verify that the last line has no newline before ' modules...' in cmdline.txt!

Eject the SD Card
Assemble everything as per this video:

Connect USB Cable between your RasPi Zero and your computer.
Either use a Mac or install Bonjour to SSH to your RasPi Zero: ssh pi@raspberrypi.local
Password is raspberry
Finally setup internet sharing on your computer allowing Broadcom Ethernet to connect to your WiFi via your computer.

Step 4: Configuring the Raspberry Pi Zero

sudo raspi-config nonint do_expand_rootfs
sudo raspi-config nonint do_i2c 0
sudo raspi-config nonint do_camera 0
sudo apt-get install vim python-smbus i2c-tools
sudo apt-get install python-picamera python3-picamera
sudo reboot

The first 3 lines makes full use of your SD card, activates I2C for the servo controller and activates the PIcamera.
Then I2C tools are getting installed and then PIcamera drivers.
Then reboot to make the changes take effect.
Login again.
Test the connection to your servo controller, and if everything is fine you should see this:

pi@raspberrypi:~ $ 
    0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: 70 -- -- -- -- -- -- --

Step 5: Install OC05 Servo Driver

cd ~ 
git clone https://github.com/xinabox/rpOC05.git</a>
cd rpOC05 
sudo python setup.py install

This will install the Servo Driver library, once installed, test by:

cd examples
python simpletest

Step 6: Program

Copy and Paste the code below into xservo.py.
Create a frames directory

cd ~
mkdir frames
python xservo.py

It should now start taking pictures and store them in frames.

Step 7: Extra Steps

You can have the program run automatically by crontab -e
And then write at the bottom of the file: @reboot python /home/pi/xservo.py
Once your shoot is finished, you can copy the pictures to your computer. I use scp
And then I use convert from ImageMagick, like this: convert -quality 100 frames*.jpg outputfile.mpeg

Step 8: Code

servo.py Python

from __future__ import division
import time
from datetime import datetime<br>import rpOC05
import picamera

pwm = rpOC05.PCA9685()

servo_min = 150  # Min pulse length out of 4096
servo_max = 500  # Max pulse length out of 4096
i = servo_max + 10
chan = 8
filename = 'frames/frame-%s.jpg'
pwm.set_pwm_freq(50)
# signal ready with a wave
pwm.set_pwm(chan, 0, servo_min)
time.sleep(1)
pwm.set_pwm(chan, 0, servo_max)
time.sleep(1)

print('Time-Lapse Running...')
while True:
  if i > servo_max:
    i = servo_min

  pwm.set_pwm(chan, 0, i)
  with picamera.PiCamera(resolution=(1920,1080)) as cam:
    ts = str(datetime.utcnow())
    cam.capture(filename % ts,quality=90,thumbnail=None)
  # time-lapse interval in seconds.
  time.sleep(0.1)
  i += 1