This Arduino code receives commands via the Serial port. The command format is as follows:
servo,angle (servo is from 0 to 5, angle from 0 to 180)
The other half of this code runs on Processing and is called AL5A_CONTROL.
Parts of this code has been taken from many sources, many of which I have forgotten.
However, I suspect that the Arduino Cookbook 2nd Edition has had the greatest influence and is a reference which everyone should own.