The first program uses an infinate loop to repeatly command the joint module to go to a specific set of angles. The module will holds its angles for 10 seconds after which it will timeout and shot down the motors to save battery.
The second program demonstrates how to keep the module from timing out after 10 seconds. This can be done by reading the angles of a motor on the module back, and in this case plot the angles as a function of time.
In both cases the program is stopped by pressing the stop button.