I'm using an old ciomputer power supply 5 volt 8 amp power supply for the servos running straight from the output 5 volt to the servos with no filter cap. I have a 5 volt 2 amp transformer used for like a phone charger running to the PICs with a .1uf cap between the +5 and GND. My serial lines are not twisted or shielded, I didn't think this was too critical being on the same board going such a short distance. I'm not picking up anything significant on the oscope either.