BenF & gbulmer, your two posts are real eye opener for us rookies. :-?
Just one question: can Arduino possibly multitask / use threads. With threads one would be able to effectively run two pieces of code simultaneously and control two (three, four) servos at once.
Can you, please, elaborate on the question of gbulmer's delay() v BenF's mills() solutions. I would say mills() solution is better, because you can do other things with those CPU cycles, which would be blocked during gbulmer's delay().