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Actually irobot create says my atmega168 is 18.432mhz everywhere (They must of modified it) the bottom line though, is that I tried writing correct code for 4 different speeds. 18.432mhz, 8mhz, 1mhz, and more. The only one where it moves smoothly is at 1mhz, but nonetheless it doesn't do anything remotely close to what I want. ANY value assigned to OCR1A makes it turn all the way right (If its not already there, then it still tries to move right), then it moves left, but at a slower and more twitchy manner. Me and some others have determined there may be something wrong with the servo at this point. When you say Servo power supply, do you mean a power supply in the actual servo? Or do you mean the 5v pin?