It is possible to modify the Servo library that comes with the Arduino IDE to use Timer 3 instead of Timer 1 on the Arduino Leonardo or A-Star 32U4 Prime. The modified Servo library does not interfere with the ZumoMotors library, making it possible to simultaneously control servos and the motors.
Warning: The modifications described here will affect any sketch for the Arduino Leonardo or A-Star that uses the Servo library.
The Arduino IDE will automatically incorporate your modifications to the Servo library. The next time you compile a sketch for the Arduino Leonardo or A-Star that uses the Servo library, it will use Timer 3 instead of Timer 1.
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