There are 2 repositories under pantilthat topic.
Waveshare PanTiltHat python2 and 3 Driver and demo. Uses curl install scripts. One for Demo and Driver and one just for driver. Demo's scripts support Pimoroni.
A vibration tolerant Pan & tilt Mechanism for Raspberry Pi Camera V2 - lightweight version.
A vibration tolerant Pan & tilt Mechanism for Raspberry Pi Camera V2 .