No, they were digital servos. As far as I know the only difference between analog and digital servos is in how they process the received signal, the signals themselves are very much the same.

But if by digital you meant some hypothetical servo that needs to receive its data as bytes with a checksum — yeah that would work, as long as the thing can do a graceful shutdown on powerloss. But I am not aware of such servos (although I wouldn't be surprised if they existed, on that project I was just a programmer).