I have the book and the OOPic-R. I have used it as a serial servo controller, to controll an arm from the PC. I can give you the Visual Basic application controll and the OOPic program. Unfortunately I have burnt 6 of the 15 I/O ports that are "servo ready". But the rest of the board works perfectly. I have connected the servos to the remaining pins but I have lost the connections for the second arm. If you want the book and the OOPic-R, make me an offer.