Buy an Axon, Axon II, or Axon Mote and build a great robot, while helping to support SoR.
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Hey- take a look at this site: http://www.anykits.com/catalog/product_info.php?cPath=46_71&products_id=239They sell a 19$ kit based on an IC that provides most all servo functions. Very supportive tech support helped me add an h-bridge to drive big motors.
The important part is the potentiometer that the output shaft is inserted into, this is the part that gives position feedback. You can create the rest of it with any microcontroller and a cheap hbridge built out of transistors or mosfets.When the output shaft moves then it moves the potentiometer. The resistance of the pot changes and the controller knows what position the servo is at.
The servo kit I mentioned does all the things you ask. It connects to the same sources a regular servo does using the same 3 prong plug. Here is a link to the datasheet for the chip it uses: http://www.digchip.com/datasheets/parts/datasheet/343/MC33030.php Hope this helps
Why not use a 555 to generate the servo pulse, with the servo pot adjusting the signal, feed that to a comparator together with the control pulse and the result will drive the motor through an H-bridge?