Hello,
I've extensive experience in programming and interfacing with Arduino and other Atmel controllers. I've also experience on developing a PC side applications for communicating with arduino. Additionally I've done coding for controlling servos. So I can easily fix issues with your current s/w.
I don't need any h/w as such from your side. I can troubleshoot your firmware code based on your inputs, fix them and then you may test at your end. We can meetup on skype so that I can support you in real time. I normally work this way in such cases and it has worked good.
Could you share your code? Do you have source code for both firmware and GUI? To move fast, we can discuss on skype as well. I am sure we can complete this in 2 days time.
I am ready to start, let me know when we can.
Regards,
Polestar