Whenever I try to control the servo, the shaft doesn't move. I took the servo (MG996R) apart and it looks like only some of the gears are rotating.
How can this be an Arduiuno priogramming question?
Gears might have lost teeth, tooth wheel slipping on the axle.
Get hold of the mechanical drawings.
Keep up the detective work.
take them apart, degrease, reassemble --> you might find the cause. Probably an axis is out of place or a hole too big.
Inside the gearbox is a DC motor. Make sure the setscrew holding the main gear to the spindle. I would guess the motor drives a very small gear that meshes with the "bottom" gear circled in red.
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