I am going to convert my old hexapod AntY from ARC32 to Raspberry and two Adafruit 16 channel PWM-drivers
As a controller i am going to use the old (not working) Lynxmotion PS2-controller adding another Raspberry, and connect them with two XBee … and hope for the best 
The controller will have a OLED 64x128, and the robot vill hopefully have the same, and a TFT 320x240, all cheap easy stuff found on EBay
Tho month ago i hadnt written a line of code in python, and now i an converting the superb Phantom-code to this very language … challenging !
Using Python tho write code to softconvert the well functioning hardware servodriver from ARC32 is a challange, but the raspberry has a_lot more cpu, and four separate cpu-cores … hopefully it will work
Ill log the project here and the cone in github
github.com/PappaNiklas/RaspberryAnt
… and i understand my english is a pain to read, but i reccon this still is better than me writing in Swedish …
Admin feel free to correct any of my textual mistakes