How about this..
Herkulex servo [ http://www.cypress.com/?app=forum&rID=85876 ]
dynamixel servo [ http://www.cypress.com/?app=forum&id=2232&rID=82995 ]
Servo motors [ http://www.cypress.com/?app=forum&id=2232&rID=68381 ]
Stepper motor [ http://www.cypress.com/?rID=2638 ]
Video [ http://www.cypress.com/?rID=61487 ]
Divide et impera!
At first decide the inputs to your controller to build which could be PWM as for the usual model-servos or a serial interface.
Next concider the way of position feedback which may be an encoder or a potentiometer or ... or ...
Next step will be to provide a closed-loop algorithm which is comparable easy to find.
Lastly you should concider error-conditions an the servo-behaveour in case of errorneous conditions.
Rats!!! It is written "consider"! My english-teacher would punish me (if she knew about).
when I go in to program for the servo with a potentiometer a screen comes up that says select debug target and then when I click on ok it says port unaquired and it wont program what do I need to do?
sorry it says target unaquired