This continuation of Mathew Watts' great -Arduino_telescope_mount- program is for use with a stronger L298 H-bridge board with no shield decoding, inexpensive gearhead DC motors with magnetic encoders and adds a PID loop to the RA axis for better speed regulation.
After getting promisingly long exposures from the system but having to wait for better skies, I decided to look into guiding to see what was involved. http://www.indilib.org/ is a good place to start. Also(linux buffs) check out Kstars and indi-full for a very polished looking guiding setup with lots of integration.
I tried the lx200 classic drivers and got a connection going on /dev/rfcomm0 but have no controls as yet.
As MWvent has been working on a driver, I may just do a pull(I removed it when I forked for clarity) and try it, or I may try to find out what commands are usually sent via the lx200 version.