We finally got the PWM Chip we ordered so we made more cubes to see if we could control multiple servos simultaneously. The PWM Chip has a fairly complicated control API and we had to resort to using a library someone made for the mbed to communicate with it. Unfortunately the library was poorly documented and figuring it out was a bigger headache than we wanted it to be. (If you're making a library, be sure to document it well!)
After we figured out the library, controlling the multiple servos was no problem for the mbed or the PWM Chip.
Here's a video of multiple cubes being controlled simultaneously:
https://goo.gl/photos/UQYwWZbLX12z3Pfy5
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