>(at that URL). I'd suggest looking at the code just to read the comments, but
>here's a portion of it pruned for two inputs:
>
>If you're driving an H-Bridge (and it's NOT Bob Blick's design) then you may
>want to have two outputs for each PWM; one for each leg of the bridge. A
subtle
>modification of the constants in the above snippet can achieve that.

You do need 2 pwm outputs for each H bridge, both are not running at the
same time though :-)
>An '876 is definitely a better processor for this application.

The 2 capture channels make reading the servo pulses trivial.

-Bob

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