robotWave is a great first program.  This example puts mimicArm in a starting position, waits one second, then goes to a second position.  Experiment by changing the robotMove values and the delay values to see how it affects the robots actions.

Download robotWave.ino for Arduino

Download robotWave.abp for mimicBlock

Cut and paste code:

#include robot.h    //Tell your arduino to go get the custom mimicArm code
void setup() {
  // put your setup code here, to run once:
  robotActivate();  //Tell the robot that Arduino will be sending it commands

void loop() {
  // put your main code here, to run repeatedly:
  robotMode(arduino);  //Put the robot in Arduino command mode

  robotMove(1,127);  //Center the robot on it's base
  robotMove(2,95);   //Put the robots 'shoulder' in a natural position  
  robotMove(3,90);   //Put robot 'elbow' at botom of wave

  delay(1000);       //wait 1 second
  robotMove(3,200);  //put robot 'elbow at top of wave
  delay(1000);       //wait 1 second before starng over