¿Qué mejora? Más rapidez de comunicaciones y control PID.
Más información aquí.
In this version you using some roboard simple code, and with a frame composed by just reading positions and the controlling the PWM of 10 servos at a time, we could actually reach on closed loop 450 to 500 frames per sec.
You can also control position an speed and respective PIDs and set IDs and communication baudrates and limits and etc.