I'm looking to buy a servo controller (or two) to run my hexapod. I need to
control 12 servos.  I've looked at a few of them, the SSC-II, and the ASC16.
I am most interested in the ASC16 because I can set acceleration rates,
speed, and not to mention .025 degree steps.  I NEED something with small
steps, < 1/2 degree.  What other products are available.  One in which I
could set a deceleration rate, would be GREAT, that would solve the problem
of my bot "jerking" to one side when it finishes a step (Damn inertia).

A couple more things on the ASC16.  Can it do deceleration?  Could I
continually set the servos speed slower and slower to get the same effect?
Can it continually receive data, i.e. a byte every 5 ms?  Who makes this
product?  maybe I could contact them directly.  This may be stupid to ask,
but it DOES hold the servo in their current position when no data is
received, right?

Maybe someone could give me some pointers on programming hexapod gaits so
that their smooth and fast.  I plan to make some rather complicated
algoriths that use leg contact sensors to keep the robot level, make sure it
has all leg on the ground, even finds it's way over very rough terrain. Some
code that could be easily modified would be nice.

Please help.
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