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The C1 and C2 lines are either connected to the 9V power supply or grounded because they directly drive classic PF motors and are not just used to carry commands. The 9V and GND poles also need to be properly connected because the PF servo will draw power from those. To drive any LEGO Power Functions motor using a single-board computer (Pi / BeagleBone / ...


The answer to the question you linked contains the answer you are looking for: To move in one direction, send a PWM signal (1200 Hz, 0 to 100% duty cycle) on C1 and keep C2 at GND level. As duty cycle varies, servo motor will move along 7 positions on one side. See this video. To move in the other direction and reach the 7 other positions, send PWM ...

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