PWM Registers/Timers for Arduino Uno

Hi I'm a complete beginner to Arduino and programming, so forgive me if I say something wrong.

I have been given a project to control a UAV using the Arduino Uno, that will use three LDR sensors (which I didn't design or can change) to control a servo and two DC motors. I've been using the analogWrite() function to use the PWM, but my project supervisor said that I need to use the PWM registers to control the servo and DC motors.

I've been reading: http://arduino.cc/en/Tutorial/SecretsOfArduinoPWM and http://playground.arduino.cc/Main/TimerPWMCheatsheet

But as I a complete beginner I have no idea how I will use this information to change the angle of the servo or the speed of the DC motors. Can anyone simplify it down for me? Or help me in any way?

Thanks Adam

Or help me in any way?

I could lend you a baseball bat to use on the project supervisor.

PaulS:

Or help me in any way?

I could lend you a baseball bat to use on the project supervisor.

Yeah I've had that thought for many weeks now, but if I do that I'd fail

Don't cross post

Mark