To start with, you should edit the level-1.scm program code. You will find a string pointing to a serial port device, and you need to make sure this is correct for your setup.
Then you may need to edit the structure called axes which associates nice symbols with the connections you made to the motors on your manipulator. Your connections may be different to mine.
Now you can start to use it. Fire up the Guile REPL, by typing the command ‘guile’ in a terminal window, in the directory which contains the level-1.scm file. In the REPL, type (load "level-1.scm"). Now type (move ’elbow 1700) and observe your arm come to life! (You did switch it on, connect up the serial port, and configure the port in Linux, right?)
Instead of ’elbow, try also ’base, ’shoulder, ’wrist, ’wrist-twist and ’grip; instead of 1700 try values between 750 and 2250. What fun! Beware that you can destroy the arm with this level of control (maybe), and the almost comical advice ’Beware that robots can move suddenly…’ which you will soon realize turn out to be words of true wisdom!