My perception of role of Servo modules (6 of them) is that they take instructions and obey them within their own bounds - so that all calculations are done outside of them, but they check for input to be sane. Calculations are the role of Positioner module. In this sprint, it just broadcasts instructions to Servo modules. In next sprint it can be upgraded with an algorithm, which makes smart decisions on which axii to move to get to desired position.
Kamil Mech, post #7