[Al Skierkiewicz]

Chris,
R42 is the defining rule here which includes table 4-4. You can split PWM control to feed multiple controllers if you wish. I recommend no more than two personally. The table also lists which motors can be paralleled to work with a single controller. There is a down side to that in that the current limit must be split between the two motors. The PWM control used for motor controllers is the same control for servos provided you make the jumper to supply the required voltage.