[Alan Anderson]

Servos connect directly to a PWM output on the Robot Controller.

Control their position the same way you would control motor speed using a Victor. Setting the PWM output to 0 will drive the servo output to one limit of travel, setting it to 254 will drive it to the other limit, and setting it to 127 will move the servo output to the center of its travel. You'll probably want to experiment to find the proper numbers to put the actuator in the right spots for high and low gear, because the servo can overheat if it's constantly trying to push against a physical limit.