A dual position and velocity servo driver that runs in one cog. The code has been fully optimized with a super simple spin interface for maximum speed and is also fully commented.

Provides full support for:

Changing the position of each servo.
Changing the velocity of each servo. (Only for continous rotation servos.)

Adjusting the minimum position (or maximum negative velocity) of each servo.
Adjusting the maximum position (or maximum positive velocity) of each servo.

Ajusting the duty cycle for each servo. Good for interfacing with non-standard servos.