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Hey, thanks for posting this. I have it printed and mostly assembled. I am trying to use an Arduino Pro Mini and I'm having one problem. From the code it looks like it is using:
Pin PD5 Servo (0)
Pin PD4 Servo (1)
Pin PD3 Servo (2)
Pin PD6 Servo (3)

On the Arduino Pro mini, pin 4 is not capable of PWM and therefor one of the legs doesn't work. I tried to reassign it to another PWM pin, but can't get it to work. The only other PWM pins are on PB1, PB2, PB3. Is there something I need to do to change the setup so it will recognise Port B? I've tried a bunch of different mods, but just can't get the 4 servo to work.