There's a fairly comprehensive write-up on controlling Parallax Continuous Rotation Servos in Robotics with the Boe-Bot. It's got explanations, instructions, example programs, timing diagrams, and some other goodies. See, Chapter 2, Activities #'s 3, 4, and 6, and Chapter 3, Activity #4. Robotics with the Boe-Bot is available for download from www.parallax.com -> Downloads -> Stamps in Class Tutorials.
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Chris Savage
Parallax Tech Support
csavage@parallax.com