While looking through the datasheets for the microcontroller I discovered the PB0-7 is the same as PD0-7, so then that leads me to believe that the microcontroller could run 16 servos(if there was enough current). But it also says that port B and port D are 8 bit inputs, while port C is a 7 bit input, is there a reason in choosing the 7 bit for the sensors and the 8 bit, which I beleive means it has higher accuracy, for motors. Also at what point do the inputs turn into pulsed outputs?(I am referring to in the 50$ robot example)
And this one is a little random, but what ever happened to port A?