Hi @breandanmcewen9. So what you want to do is receive and process RC input and then effect Servo motor output. The closest example to doing this that we have is the Omni-wheel robot, which uses the Motor Shield to run DC motors. The sketch for doing that can be found here. You can see there how we process the RC input and compute motor control based on the input. You'd do something similar, but you'd use Servo library commands instead of WickedMotorShield library.
The Servo library for Arduino is what you should use to control the Servos, it's already included with Arduino by default I think. The Servo headers left to right (with jumpers in default positions) are controlled by:
DIG5 == M3
DIG6 == M5
DIG10 == M4
DIG9 == M2
DIG11 == M1
DIG3 == M6
So those respective pins are the once you'd use to initialize (attach) the Servo objects. I think those two orientations plus some Google and trial and error ought to get you on the right track. Let me know if anything is unclear and I'll try and point you in the right direction.