[PIC] 16F887 > 2 axis joystick drive 2 servomotors

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while(1)
{
  // Servomotor LOWER 270° : TOWER PRO M996R (270°)
  Init_Timer2();
  Init_Timer0();
  p0 = &TMR0;
  joystick_X = (ADC_read(0));             // Reads Y axis value with channel 0 (AN0) on pin #2.
  //if ((joystick_X <= 500) && (joystick_X > 0))
if ((joystick_X <= 500) && (joystick_X > 100))
{
//consigne_0 = 256 - 226; // consigne_0 = 256 - 226 => 226 à 256 = 30 x 1 uS = 30 uS = 0,03 mS.
// ROTATION CONTINUE DROITE.
//consigne_0 = 256 - (0.25 * joystick_X);
consigne_0 = joystick_X / 4;
      //consigne_0 = joystick_X / 5;
      sprintl(*p0, "%3u", consigne_0);
      Init_Timer2();
      Init_Timer0();
      while(cnt0 < (consigne_0 / 10))
{
portd.b1 = 0;
portd.b0 = 1; // Servomotor LOWER ON.
portc.b2 = 1; // LED ON.
      }
      portd.b0 = 0;
portc.b2 = 0;
     }
  //if ((joystick_X >= 524) && (joystick_X < 1024))
if ((joystick_X >= 524) && (joystick_X < 924))
{
//consigne_0 = 256 - 156; // consigne_0 = 256 - 156 => 156 à 256 = 100 x 1 uS = 100 uS = 0,1 mS.
// ROTATION CONTINUE GAUCHE.
//consigne_0 = 256 - (0.25 * joystick_X);
consigne_0 = joystick_X / 4;
      //consigne_0 = joystick_X / 5;
      sprintl(*p0, "%3u", consigne_0);
      Init_Timer2();
      Init_Timer0();
      while(cnt0 < (consigne_0 / 10))
{
portd.b1 = 0;
portd.b0 = 1; // Servomotor LOWER ON.
portc.b2 = 1; // LED ON.
      }
      portd.b0 = 0;
portc.b2 = 0;
     }
  if ((joystick_X > 500) && (joystick_X < 524))
{
portd.b1 = 0;
portd.b0 = 0;
portc.b2 = 0;
     }
  // Servomotor UPPER 360° : TOWER PRO M996R (360°) (Ancien 270° avec les 2 butées détruites)
  Init_Timer2();
  Init_Timer1();
  p1 = &TMR1L;
  joystick_Y = (ADC_read(1));             // Reads Y axis value with channel 1 (AN1) on pin #3.
  //if ((joystick_Y <= 500) && (joystick_Y > 250))
if ((joystick_Y <= 490) && (joystick_Y > 250))
{
portd.b0 = 0;
consigne_1 = 65535 - 1500; // consigne_1 = 65535 - 1500 => 64035 à 65535 = 1500 x 1 uS = 1,5 mS = Ton.
// ROTATION CONTINUE GAUCHE LENTE.
sprintl(*p1, "%5u", consigne_1); // In Library Manager check box Sprintl and check box C_Type are selected automatically.
Delay_ms(1000); // Délais AJUSTABLE pour définir l'angle de rotation.
     }
  if ((joystick_Y <= 250) && (joystick_Y > 0))
{
portd.b0 = 0;
consigne_1 = 65535 - 1750; // consigne_1 = 65535 - 1750 => 63785 à 65535 = 1750 x 1 uS = 1,75 mS = Ton.
// ROTATION CONTINUE GAUCHE RAPIDE.
sprintl(*p1, "%5u", consigne_1); // In Library Manager check box Sprintl and check box C_Type are selected automatically.
Delay_ms(1000); // Délais AJUSTABLE pour définir l'angle de rotation.
     }
  //if ((joystick_Y >= 524) && (joystick_Y < 774))
if ((joystick_Y >= 534) && (joystick_Y < 774))
{
portd.b0 = 0;
consigne_1 = 65535 - 1400; // consigne_1 = 65535 - 1400 => 64135 à 65535 = 1400 x 1 uS = 1,4 mS = Ton.
// ROTATION CONTINUE DROITE LENTE.
sprintl(*p1, "%5u", consigne_1); // In Library Manager check box Sprintl and check box C_Type are selected automatically.
Delay_ms(1000); // Délais AJUSTABLE pour définir l'angle de rotation.
     }
  if ((joystick_Y >= 774) && (joystick_Y < 1024))
{
portd.b0 = 0;
consigne_1 = 65535 - 1250; // consigne_1 = 65535 - 1250 => 64285 à 65535 = 1250 x 1 uS = 1,25 mS = Ton.
// ROTATION CONTINUE DROITE RAPIDE.
sprintl(*p1, "%5u", consigne_1); // In Library Manager check box Sprintl and check box C_Type are selected automatically.
Delay_ms(1000); // Délais AJUSTABLE pour définir l'angle de rotation.
     }
  //if ((joystick_Y > 500) && (joystick_Y < 524))
if ((joystick_Y > 490) && (joystick_Y < 534))
//if ((joystick_Y > 250) && (joystick_Y < 774))
{
portd.b0 = 0;
portd.b1 = 0;
portc.b2 = 0;
}
}