This article describes a servo motor controller that is able to control up to 16 hobby servo motors and its based on the AT90S4414 microcontroller (a member of Atmel's AVR Family). This servo controller is ideal in cases of building small robotic arms (3 to 5 axes) or small walker mobile robots (quadrapods or hexapods). The servo controller receives position commands through a serial connection which can be provided by using one I/O pin of another microcontroller, or a PCs serial port! Link.
MAKE Magazine
