Leg 1 | Servo 1 | D32 | PWM control signal for servo 1 |
| Servo 2 | D33 | PWM control signal for servo 2 |
| Servo 3 | D25 | PWM control signal for servo 3 |
Leg 2 | Servo 4 | D14 | PWM control signal for servo 4 |
| Servo 5 | D12 | PWM control signal for servo 5 |
| Servo 6 | D13 | PWM control signal for servo 6 |
Leg 3 | Servo 7 | D22 | PWM control signal for servo 7 |
| Servo 8 | TX0 | PWM control signal for servo 8 |
| Servo 9 | RX0 | PWM control signal for servo 9 |
Leg 4 | Servo 10 | RX2 | PWM control signal for servo 10 |
| Servo 11 | D4 | PWM control signal for servo 11 |
| Servo 12 | D2 | PWM control signal for servo 12 |
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