Controlling a servo with Arduino is easy, as shown in a previous post. What I have found difficult is getting multiple servos and serial data processing to play nice together. Processing serial data is screwing up the timing of the software PWMs. There are several libraries written for Arduino to control servos, check them out here and here. The first library looks great as it is a hardware based solution that changes the arduino PWMs to be servo friendly but is limited to two servos. My plan is to learn some AVR assembly so that I can extend that library for more then 2 servos. My goal is to create a complete servo control system for Arduino which will include a shield and control software written in flash.