[intellec7]

I have attached code that *should* work. You will probably need to modify all of the Rx inputs and PWM outputs.
If any one sees a problem with this code, you are probably right . :-D
BTW there is no overflow protection, which might happen, but I am assuming you don't need really precise servo control? When you stop moving the robot the servo stops in place, but when you start moving it again, the servo moves to its positive limit and then starts the back and forth movement again.