Connecting servos to DSerial is very easy. This project uses pins P0.7, P1.2, P1.3, P1.4 and P1.5 for five servos. It's possible to connect more servos with a few modifications.
See hacking servo for information about modifying a servo for continuous rotation.
Here is an overview of the system. A 5V source is needed for the servos, since DS only supplies 3.3V. I used a 11.1V Li-poly battery and a 5V regulator.
Servo connector is soldered to IO1 port.
dserial-1.1-alpha.zip DSerial servo code