It's in the Roboclaw Arduino Library: Pololu - RoboClaw 2x5A
You can access it through BMSerial/examples/Bareminimum
Or a better example is Roboclaw folder/examples/SimpleSerial
The simpleserial file is an example I used, it just communicates the table here(slide 26) using values. I only want to use values 128 or 255 for channel 2 to either fully apply or fully reverse the actuator.