I've done a bit of searching on the topic and have not found sufficient information to solve my problem.

I created a robot that is essentially 6 servo-type motors in series.  The motors need to be driven using an angular displacement expression similar to theta(t) = Asin(Bt +C) where A, and B and C are known constants.

How do I input this type of expression into the expression-driven motor?  I am having no luck using expression-based motors at all, and there are no tutorials anywhere I have searched that provide the details I'm looking for.

Thank you very much in advance.

Attached is the picture of my robot in case that helps.