In SX Microcontrollers, SX/B Compiler and SX-Key Tool, George Herzog wrote:

If you have Guenther's book, the last portion discusses providing a BOEbot with an SX28 to drive two servos.  The code is publically available at Parallax, but you have to buy the text.

Senix-Ubicom has code examples and so does SXLIST.com; but for the life of me they just seem too complex or to cryptic in their explanations.  At least with Guenther's text, you can get a proof of concept operating in a tangible device and then work from there.

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