PROPELLER MULTI-CONTROLLER - Part 2 by David Carrier:

The Propeller Multi-Controller – Part 2 article in the October issue of Servo magazine introduced a new open source servo controller design based on the Propeller Chip. The source code, available from the link below, works with two different types of commands: queued and immediate. Immediate commands are executed as they are received, and queued commands, including delays, are executed in order, each after the previous one is completed. The software's development is still in a beta stage, so the commands are not finalized. The code is actively being developed, so if you have any comments, changes, or suggestions, please send an email to David Carrier at dcarrier@parallax.com. See Propeller Multi-Controller – Part 1 for instructions needed to construct the hardware.

Downloads:
ServoController_v0.8.zip
Command syntax.pdf
Propeller Multi-Controller - Part 1
Propeller Multi Controller - Part 3