The primary microcontroller for this project will be a Pololu, Baby Orangutan B. This is a decent ATmega328P AVR microcontroller, but in order to not use all the resources controlling the servo, I will be making a servo controller. The process of doing this can be found here: http://www.rentron.com/PICX5.htm, this is a very cheap (less than $3) and very easy way to offload the PWM (Pulse Width Modulation) signal from your main controller. Basically you send it a servo ID number and a servo position, the “Servo Pod” will take care of everything else, leaving your controller free to think of other things…such as keeping the robot upright!
(Programming the PIC12F675 chip, sure is tiny!)