Hi, nice work I like it a lot, I never used such a good structure to drive my motors
During the last test with my accelerometer I shot this video
so you can see how cool your is
I am planning to shoot another video of the same work but working with writeMicroseconds because I can have a smoother movement. I have a couple of futaba s3003 servo. With a bit of trial and error I have decided that those motors start from 500ms till 2400ms, centered in 1450, but I could be wrong. The only method I know is to try, verify and try again.
When moving in degrees or microseconds you can slow the servos by putting a delay between every step. I think that you can use up to 15milliseconds if you move in degrees or up to 2 in microseconds, but those values depens from motor to motor.
ps: wich motors / servos do you use?