Now you will need to open the arduino program that takes the commands from the processing sketch. It can be downloaded below. Once you've opened the sketch just paste the code you copied from the processing program into the brackets below the line that says COPY COMMANDS BELOW. Upload the arduino program to the robot and you are ready to go! (To do a different drawing just delete the old commands and copy the new ones into the same area.) If you need to change the pen servo positions I have set then just change what the "up" and "down" integers are initialized to at the top of the arduino program.
Both the Processing and the Arduino code are simple, so feel free to read through it and get a better feel for what it does. (Also it's pretty self explanatory but make sure if you're using an accelerometer to get the processing AND arduino code specified for it).