Servo control based on Atmel AVR

I've search far and wide and can't find an open source servo controller
based on the Atmel AVR. /Plenty/ of RC servos, but no real servo
motors. I'm looking for code with (hopefully) PWM output, encoder input
and PID routines.

ADVthanksANCE!

Regards,
JJ

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Help everyone. If you can't do that, then at least be nice.