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Pololu Micro Dual Serial Motor Controller

Help with coding ...

So Iv'e got every thing but the Pololu Micro Dual Serial Motor Controller  hooked up and coded for (I mostly used other peoples code from the arduino site) but I but I do not understand what I need to do to get the motor controller to work code wise

I am using two GM9 (143:1 90 Degree Shaft) and the solarbotics wheels if that matters 


and this is the code I am using 

 for the servo