How to control servo motor by atmega32a??

[wegasalman]

i want to control servo motor (FS5103B) using atmega32a.
i used many codes but dosen't work. can anyone help me??
and this the last code i use.

#include <avr/io.h>
#include <util/delay.h>
int main(void)
{
DDRD |= 0xFF;
TCCR1A |= 1<<WGM11 | 1<<COM1A1 | 1<<COM1A0;
TCCR1B |= 1<<WGM13 | 1<<WGM12 | 1<<CS10;
ICR1A = 19999;

OCR1A = ICR1 - 2000; //18000

while (1)
{
OCR1A = ICR1 - 800;
_delay_ms(100);
OCR1A = ICR1 - 2200;
_delay_ms(100);
}
}