Technically, you only have dc motors since servos are just a motor with built in gearing and control circuitry, but who asked you anyways? Servos normal have an degree range of rotation, but can also come in a 90 or even degree variety. If you wanted to you can even remove the control circuitry and use them as wheels. With this simple hack your servo becomes a full-rotation continuous motor. Normally, to control a servo with any other micro-controller you would have to cycle a digital output port between high to low for 1 to 2ms depending on the angle you want to set the servo usually between degrees. Depending on the rotational speed of the servo, you would have to determine how long the servo needs to get into position and plan your program accordingly.
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