The Arduino code looks very basic at the moment. In practice there are some hardware quadrature encoders in the stm32l4 timer peripherals, which could be used in preference to the bit-banged ...

For instance, the Serial Servo Raspberry Pi HAT offers multiple powering options, four Serial Servo connectors, four programmable buttons, an on/off switch, and a 1.14” TFT Display for status ...

8 thoughts on “ A Dual-purpose Arduino Servo Tester ” ... the servo test program will handle up to 4 servos ... steppers, Motors, AtoD, SPI, UART, ...