What a fantastic product.
This is definitely a work in progress. I have smarts driving the servo. I wanted to get everything working without smarts for the feedback loop.
Right now I am getting far fewer position readings per second than I should. This is mostly do tothe fact that I have serial and feedback sensing in the same cog...
and I have to slow things down so as to not let the serial output step on the feedback signal.
Next step will be to add smarts to the sensing and separate out the serial from the servo. And then see what I can do with 5 servos at once.