Help with coding (PWM + MILLIS)

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HI
im after some help with coding for a project, im trying to multi task using millis and a servo 16 channel pwm driver board.
i can just about the some simple stuff, using delay etc, but i require more in-depth help, so i can run multiple line of code for a animatronic robot that i can control using push button and joy sticks.

Any help or guidance with be a blessing to expand my knowledge in the area.
thanks
nate

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Non-blocking timing tutorials:
Blink without delay().
Beginner's guide to millis().
Several things at a time.

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