Can any of the Picaxe chips control a standard RC servo, and position it based on the position of an analogue potentiometer? I would also like the PIC to store positions and play them back.
Also have a read of the command ReadADC. (it's on page 120)
You can scale the value to match the numbers needed by the servo command so that a potentiometer can be used to set the required position of your servo.
A simple push-button and a few more lines of code would enable you to 'store' positions which could then be played back.