I suppose you want to convert between celestial coordinates and alt-azimuth coordinates? This involves calculations using sines and cosines.
You will need to get familiar with the celestial coordinate system. You will need to observe how the sun occupies the north part of the sky during summer, and the south part of the sky in winter.
Your axis of rotation will point to the celestial north pole (near Polaris the 'North Star').
Your tracker will be angled up or down to the sun's declination for that day of the year. The sun is north of the celestial equator during spring and summer. It is south of the celestial equator during autumn and winter.
Every day at noon the sun is within a few minutes of your meridian (defined as a line overhead going N-S). Your motor will run at an unchanging rate. Therefore if you start each day (at 6 am) pointing your tracker at a location 6 hours prior to your meridian, it will always be within a few minutes of the sun. This method may be simpler than continual calculations.