WebbotLib AVR library
WebbotLib It just does it
  C++ documentation  C documentation

Devantech SD21 Servo Driver

The Devantech SD21 is a servo controller for driving up to 21 servos via I2C address 0xC2.
Single Supply
If you are only using a single battery to power the servos and to power the board then connect the battery to the servo supply terminals as shown and make sure the 2 pin jumper header is shorted together.
Dual Supply
Alternatively you can power the board logic from a regulated 5V supply and provide a separate unregulated supply to power the servos. In this case the jumper should be left open.
Just use the generic example in Actuators
Function Summary

Valid XHTML 1.0 Transitional