If you look at what that code is doing its quite easy to add a few lines of code to changed the format to however you want. for example:
#include <Servo.h>
int servoPanPin = 9; // Control pin for servo motor
int servoTiltPin = 10; // Control pin for servo motor
int pos = 0; // position
int count = 0;
char command;
Servo panServo;
Servo tiltServo;
void setup()
{
Serial.begin(9600);
panServo.attach(servoPanPin);
tiltServo.attach(servoTiltPin);
}
void loop()
{
if ( Serial.available())
{
char ch = Serial.read();
if(ch >= '0' && ch <= '9') { // is ch a number?
pos = pos * 10 + ch - '0'; // yes, accumulate the value
count++ ;
}
else {
command = ch;
count = 0;
pos = 0;
}
if( count == 3){
Serial.print(command); Serial.print(" "); Serial.println( pos);
if(command == 'T')
tiltServo.write(pos);
else if(command == 'P')
panServo.write(pos);
pos = 0;
count = 0;
}
}
}