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Thanks for your note. Of course, i know that. But I've intentionally use an additional controller because there are some trigonometric calculations needed for the 4 main servos. -> I use x,y and z coordinates and they are calculated into angle of rotation for the servos. On the other hand the RPI performs Web-, Cam- and Hotspot-Service...It was a question of performance to outsource 8 PWM-Signal control