9 axis motion shield + arduino uno+two servo+DC motor

hello guys,

am new to arduino and programming and have a project to build a autonomous control system for my AUV

I would like someone to help write a simple code to control two servo motors, one rotate on Y-axis for yaw motion and the an the other on the Z-axis for pitch motion.

the Dc motor to run forwards and backwards on the x-axis.

i would like the motors to motors to move based on the 9 axis motion shield position.