Help with mjpg-streamer on OpenWrt and Linux

Need help getting PTZ controls working using mjpg-streamer for both Linux and openwrt. Need this to work from the command line but bonus if we can have a GUI. The mjpg-streamer package has all but been abandoned but there are a number of efforts still available to be found. I am open to using something else so long as it works in both operating systems. Streaming is working just fine but cannot get PTZ going. Currently testing a QuickCam Orbit AF with pan tilt but will be using other UVC based PTZ cameras. Must work on centos 7.x and OpenWrt/LEDE. Video must include audio. Once the job is complete, you must provide a list of all packages required and zip up the final build so I can save it somewhere for later. Show me what you can do and this could lead to a lot more openwrt/linux based work.