I almost have the fingers done. Thank you for the advice though. Also, how do you get the wires out of the servo motor? I'm using the Futaba S3003 servo motors if that helps.

I decided to make a robotic hand out of simple materials (here is the project summary:http://www.sciencebuddies.org/science-fair-projects/project_ideas/Robotics_p003.shtml) and I need some help programming the fingers so I can get them to move. What I want it to do involves picking up a chess piece and placing it in its designated spot. I have very little programming experience, and I would greatly appreciate it if you could explain it in basic terms.