[Alan Anderson]

I'm going to assume you meant to show us that there's a servo power jumper installed next to PWM 5 on your Digital Sidecar. I don't quite know how to interpret "i connected servo arm to pwm cable", but I'll pretend that it means you plugged the servo connector into a PWM extension cable. The colors of the wires are probably close enough that you wouldn't have plugged it in with the wrong orientation, but it's something you should check.

What exactly do you want the servo to do, and when do you want the servo to do it? Specifically, which joystick controls do you want to cause the servo to move? Pretend it's working precisely as you want, and tell us what we'd see happen if we watched you controlling it. If you can describe what you are trying to make the robot do, we can step you through how to program the robot to do it.