Hi, The regulators are the correct way. I did make that mistake in the original design but luckily realised before i etched the PCB and plugged the servos in. They are running from a 12V supply so they probs wouldnt last long if the regulators were wrong.

The power supply is a desktop PSU (similar to a laptop PSU) and it is capable of outputting 7A. As far as i understand the voltage is correct so 7A shouldnt cause a problem but im not overloading them am i?

Ive opened the skull (yes, skull!) and turned the servos on. It seems that at least 3 of them are constantly twitching but its not noticable just by looking at them. I know that will cause a huge power drain through the regulators but i wouldnt have thought the servos would mind as they are designed to constantly correct their positions.

I think the slight twitching could be caused by my code but it is written in assembly and goes into a tight loop before the timer overflows so it should be accurate to 400ns.