I've modified the larger servos by adding an analog feedback wires to the potentiometers inside them, so now they are more accurate. There are tons of tutorials on how to do this, or you can buy servos that already have a feedback wire. This means I will have to update my circuit diagram to include this ( which I will), but for now I'm just running these extra wires to A1 and A2. This also means I will update my GitHub to include this feedback in the code (which is another thing I will do).  By the way my GitHub account is Weef Teef (in my last log it was auto corrected and therefore mispelled.)