Control_two_Servos.ino

#include <avr/io.h>
#include <avr/interrupt.h>
#define setbit(x,y) (x |= y)
#define clearbit(x,y)(x &=~y)
#define bitn(p) (0x01 << (p))
#define checkbit(x,y) ((x) & (y))
int count, angle,angle1,count_angle,count_angle1;
int main(void)
{
DDRD = 0xFF;
TCNT1 =0x00;
OCR1A = 21;
TCCR1A = 0x00;
TCCR1B = 0x0A;
TIMSK1 =0x02;
SREG=0x80;
homeposition();
_delay_ms(2000);
while(1)
  {
 for (int i = 1; i <= 30; i++)
   {
    angle++;
    angle1++;
    convert();
   }
   _delay_ms(1000);
   for (int j = 1; j <= 30; j++)
   {
    angle--;
    angle1--;    
    convert();
   }
   _delay_ms(1000);
  }
}
void convert()
{
  count_angle = angle + 46;
  count_angle1 = angle1 + 46;
  _delay_us(5000);
}
void homeposition()
{
angle = 90;
angle1 = 90;
}
ISR (TIMER1_COMPA_vect)
{
  count++;
  if (count <= count_angle)
  {
    setbit(PORTD, bitn(4));
  }
 else if ((count > count_angle) && (count < 1818))
 {
  clearbit (PORTD,bitn(4));
 }
  else if (count >= 1818)
  {
    count=0;
  }
  if (count <= count_angle1)
  {
    setbit(PORTD, bitn(5));
  }
 else if ((count > count_angle) && (count < 1818))
 {
  clearbit (PORTD,bitn(5));
 }
}