Hexapod 12 servos - Adafruit servo shield

I'm trying to write some code for a arduino hexapod with 12 servos, i'm using the Adafruit 16-channel PWM/Servo Shield, but i have no clue how to only activate one servo so i can make walking motions - hope someone have experience with the Adafruit shield.

You mean this one? Overview | Adafruit 16-channel PWM/Servo Shield | Adafruit Learning System

With its own tutorial? Did you try the tutorial?