I don't think i elaborated enough, i meant is there a way to control servos so that they turn to a specific angle, like if i was to give it a value and it would turn to that corresponding value, instead of just changing the speed from zero to something else. It looks like the code for the ERP just passes to the servo a servo position.
//move arm into centered vertical position
arm_right_base(620);
arm_right_J1(750);
arm_right_J2(350);
this is from the fetch.c file of the ERP code