I am going to be working on an engineering senior design project where we want to use around 12 servos (all independent) to control a bio inspired fish. Will I be able to Have 12 channels from this board? I know that it has at least 8 dedicated channels but is there a way to get 12 channels?
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Yes, but you may have to solder more traces (or wires) very carefully from the MEGA2560. The pwm outputs currently used are:
case 0: OCR1B=pwm; break; // out1
case 1: OCR1A=pwm; break; // out2
case 2: OCR4C=pwm; break; // out3
case 3: OCR4B=pwm; break; // out4
case 4: OCR4A=pwm; break; // out5
case 5: OCR3C=pwm; break; // out6
case 6: OCR3B=pwm; break; // out7
case 7: OCR3A=pwm; break; // out8
case 9: OCR5B=pwm; break; // out10
case 10: OCR5C=pwm; break; // out11
So it looks like you could add a few more pwm outputs like OC0A, OC2A, OC2B, OC5A to your APM_RC_APM2.cpp file.