#define max_angle_servo  360
#define min_pulse_micro_second_servo  100  // 1000us/10=100 us
#define max_pulse_micro_second_servo  200 // 2000us/10=200  us

//*******************************************************************//
unsigned char  m1=0,m2=0,m3=0,m4=0;
unsigned int cont1,cont2,cont3,cont4 ,cont5;
//unsigned int delay_waitting=min_pulse_micro_second_servo  , contm2=0 , contm1;

//*****************************************************************************//
//Timer0
//Prescaler 1:1; TMR0 Preload = 246; Actual Interrupt Time : 10 us

//Place/Copy this part in declaration section
void InitTimer0(){
  OPTION_REG         = 0x88;
  TMR0                 = 246;
  INTCON         = 0xA0;
}

void Interrupt(){
  if (TMR0IF_bit){
    TMR0IF_bit         = 0;
    TMR0                 = 246;
    //Enter your code here
    cont1 +=10;
    cont2 +=10;
    cont3 +=10;
    cont4  +=10;
    cont5  +=10;
    if(cont1==1200){portd.f0=0;}
    if(cont2==1300){portd.f1=0;}
    if(cont3==1500){portd.f2=0;}
    if(cont4==1700){portd.f3=0;}
    if(cont5==20000){portd=255;cont1=0;cont2=0;cont3=0;cont4=0;cont5=0;}
  }
}

//*******************************************************************//
void main() 
{
 adcon1=6;
 InitTimer0() ;
 trisd=0;
 portd=0;
 m1=0;
 while(1)
        {
         // check angle
        }
 
}

#define max_angle_servo  360
#define min_pulse_micro_second_servo  1000  // 1000us
#define max_pulse_micro_second_servo  2000 // 2000us
const char servo_motor=20;
//*******************************************************************//
unsigned int timer , angle[servo_motor ],cont[servo_motor];

unsigned char update=1,servo , servo_state , cont_no_motor=0 , servo_number[3], angle_number[3] , m[servo_motor];
//*****************************************************************************//
//Timer1
//Prescaler 1:1; TMR1 Preload = 45536; Actual Interrupt Time : 20 ms

//Place/Copy this part in declaration section
void InitTimer1(){
  T1CON         = 0x01;
  TMR1IF_bit         = 0;
  TMR1H         = 0xB1;
  TMR1L         = 0xE0;
  TMR1IE_bit         = 1;
  INTCON         = 0xC0;
}

void Interrupt(){
 char tmp ;
  if (TMR1IF_bit)
                 {
                  TMR1IF_bit = 0;
                  TMR1H         = 0xB1;
                  TMR1L         = 0xE0;
                  //Enter your code here
                 }

}

//*******************************************************************//
void main()
{
 cmcon=7;
 InitTimer1() ;
 trisa=0;
 porta=0;

 portb=0;
 while(1)
        {
         timer=((TMR1H*256)+TMR1L)-45536;

         if(timer<=1125 )porta.f0=1; // 45 degree
         else {porta.f0=0;}

         if(timer<=1250)porta.f1=1; // 90 degree
         else {porta.f1=0;}

         if(timer<=1500)porta.f2=1; // 180 degree
         else {porta.f2=0;}

         if(timer<=2000)porta.f3=1; // 360 degree
         else {porta.f3=0;}



        } ;

}