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  • Thanks for the update on the pins, one should always read the full schematics instead of a simplified table as I did. Sure, all GPIO and multiplexed analog/digital pins can be used for software pwm but hardware pwm does offer a real benefit as in less complex code and reduced computational effort needed on run time. That might or might not be an issue depending on the complexity of the rest of the intended program - a question only the OP can answer. Commented May 2, 2017 at 18:00
  • I would in any case strongly argue that one should not start a project that needs 18 I/O for servos alone on a 18 I/O controller - what about user interface and sensors? So there is imo nothing wrong in designing this using either a "bigger" board or with additional hardware such as the I2C driven PWM extension. Commented May 2, 2017 at 18:01
  • thanks for the correction. but dont post these as new answers, as answers on stackexchange should answer the question asked. you could post a comment to the answer or edit it if you think there was a mistake! cheers Commented May 2, 2017 at 22:07
  • the hexapod is going to be developed further once the hardware is set up. but eventually at some point i will have to add a raspberry pi for more complex planning and decision making while the arduino will deal with all the low level stuff. but since i found super cheap clones i will just use those either way Commented May 2, 2017 at 22:45