The IFI multi-speed motor, which I believe is what you were talking about, is the one with the 4 wired cable (Black, Red, Yellow, Orange). IFI doesn't make servos.
Regardless, I think you're looking for this:
Black - Ground
Red - +Battery
Yellow - PWM Control
Orange - +Battery
Here's the document on the 2004 Mini Robot Controller, look on Page 8, there's the pin-out diagram for the multi-speed motor.
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WHS/CHS Robotics - Team 100 (2003-2006):
2006- Delphi's Driving Tommorow's Technology @ Davis | Imagery Award @ SVR |
2004- SVR Finalists (w/ 691 and 1280)|
2003- Delphi's Driving Tommorow's Technology @ Sac