Start with the sample code for the BRAT:
github.com/Lynxmotion/Brat
Once again, start with the BRAT code which uses the Basic Micro code and expand on that.
ok,when i read programs i can’t find hservo command that control the servos. i don’t know if there is another command is used. i can’t know which part of program belong to Ps2… i am in labyrinth
when i connect the battery to robot, it work then suddenly the power cut and return again. what’s the reason??
Sounds like the battery might need to be recharged. Can you check the voltage with a multi-meter?
If that’s not it, we will need more information about how your robot is currently configured and it’s connections. Pictures are good for this! 
i control biped scout using servo sequencer utility program , i saved the pattern , then repeat it again , a problem occur here at the same angle value the position of the servo isn’t and i don’t know the reason???
Are you saying that a servo always has a problem at a particular position? Is the servo reaching its end and stopping?
If you have give more information such as pictures and videos, that would help.
it isn’t stop , running ,but it’s position changed and i don’t know
I’m sorry, but I’m not sure I understand what you’re saying…