First of all, thanks a lot about your quick response. I'm sorry I haven't had much time to either test it or come back to you on my tests.
I must confess I'm still not quite familiar with the parameters speed, ramp and flags, especially the last one, in servo_config(board,channel,speed,ramp,flags,trim_min,trim_max).
Speed and ramp must be specified how so?
As for the rest I'm assured the command lines are well designed.
Thanks a lot for your time.