[Ether]

How are you generating the PWM signal to the Jag and servo? Is it one of the following, or something else?

- does the Pi have built-in hardware support for generating PWM signals on the GPIO pins so all you have to do is configure the period for each channel and then provide a pulse width for each channel?

or

- continuously poll a clock and turn GPIO on/off for each of the two PWM channels as appropriate based on the respective joystick inputs

or

- use a fixed-period interrupt with a counter and a state machine to turn GPIO on/off to turn the GPIO on/off

or

- use a fixed-period interrupt (at the desired period of the PWM) which turns the GPIO on and then enables a one-shot interrupt to turn the GPIO off

or something else?