Up to 10 Servos

So after some pause I came back to this project. The servo driver really gave me a lot of grief -- the individual servo sockets worked randomly, the board seemed to randomly restart, hang or sometimes not boot at all. After some advice on the ESP8266 channel on Freenode, I tried adding some serial messages for debugging, and that let me see that the board indeed crashes with some "failed to fetch instruction" errors. I tried the code on an ESP8266-12E board from a different source, and sure enough it worked. So I desoldered the original board and replaced it with the working one. China...

Anyways, I can drive up to 10 servos now, with a caveat. The problem is that the servos on pins TX, GPIO02 and GPIO15 can't be connected while the board boots -- otherwise the board doesn't boot into the right mode. So I have 7 servos working normally, and 3 additional ones that you have to connect after the board boots... Not perfect.

I will experiment further with some pullup resistors -- I might be able to make at least one more servo work, which would be enough to have µKatka walking.