programing issue

I just got the make controller and I plugged it in and got mchelper and updated the heavy firmware and yadda yadda. I've got the board working just fine, I think, I can turn the LEDS on with OSC commands. But I can't seem to get the Poly mode working, and from what I've read its not on the firmware anymore. I'm trying to create a wiggler, a giant wiggling worm with a bunch of servos. But it seems like I can't use poly mode. I looked into programming the board and I can't make heads or tails of it. I download all the yagarto stuff, but I can't figure out how to write code in C or C++ and then compile it to the board, can any one guide me through this? Also I have no programming knowledge at all, so if there's a tutorial on how to accept inputs from the analog inputs and then drive servos based on the inputs that would great too. Thanks, Brian