The easiest way to control the Robot Turret is via the included joystick. This page will show you how to wire your joystick to your ArbotiX robocontroller and what code to load onto the ArbotiX Robocontroller.
This code for this demo project will read the analog value from the joysticks, convert the raw value into a value ready for the DYNAMIXEL servos, and then write the positions to the servos. The code will also impose angle limits on the pan/tilt system and offer variable speed, adjustable by the user.
The vertical joystick will control the tilt servo while the horizontal joystick will control the pan servo. These motions can be swapped in code, or by physically swapping out the 2 sensors. This code can work with a wide variety of joysticks. It can also work with other analog sensors, though some code modifications may be necessary depending on the desired behavior.