Here is a great site I came across that has a multitude of robot manuals from all manufacturers.
bret.tallent
USA
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PWM Servo Feedback (ADC)
— Add ADC positional feedback to hobby PWM servos via minor mod to EZ-B/Arduino; enables real-time position readout, calibration and puppet mirroring
Try it →
oh man that site has some neat robots - brings back some memories
Oh so many options! So little time