Master servo control(two modes)

#include <mega32a.h>
#include <spi.h>
#define MAXANGLE    1999
#define MINANGLE    999
#define MOTOR_PLUS  0x01
#define MOTOR_MINUS 0x02
volatile unsigned char mode;
// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here
    static unsigned int OCR1Avar = 1499;
    static unsigned char state = 1;
    static unsigned char count = 0;
    count++;
    if(!mode)
    {
        if(count >= 10)
        {
            switch(state)
            {
            case 1: //forward Axial movement
                    if(OCR1A++ < MAXANGLE);
                else
                    state = 2;
            break;
            case 2: //forward Vertical movement
                    if(OCR1B++ < MAXANGLE);
                    else
                    state = 3;
            break;
            case 3: // grabbing object
                    if(OCR1Avar++ <= MAXANGLE)
                        spi(MOTOR_PLUS);
                    else
                        state = 4;
            break;
            case 4: //reverse Vertical movement
                    if(OCR1B-- > MINANGLE);
                    else
                    state = 5;
            break;
            case 5: //reverse Axial movement
                    if(OCR1A-- > MINANGLE);
                    else
                        state = 6;
            break;
            case 6: //forward Vertical movement
                    if(OCR1B++ < MAXANGLE);
                    else
                        state = 7;
            break;
            case 7: //release object
                    if(OCR1Avar-- >= MINANGLE)
                        spi(MOTOR_MINUS);
                    else
                        state = 8;
            break;
            case 8: //reverse Vertical movement
                    if(OCR1B-- > MINANGLE);
                    else
                        state = 1;
            break;
            }
            count = 0;
        }
    }
}

void main(void)
{
// Declare your local variables here
unsigned char Press_Conf = 0;

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=Out Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In
// State7=0 State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0xB0;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0xFE;
DDRC=0x01;

// Port D initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x30;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 1000.000 kHz
// Mode: CTC top=OCR0
// OC0 output: Disconnected
TCCR0=0x09;
TCNT0=0x00;
OCR0=0xFF;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 1000.000 kHz
// Mode: Fast PWM top=ICR1
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0b10100010;
TCCR1B=0b00011001;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x4E;
ICR1L=0x1F;
//OCR1AH=0x05;
//OCR1AL=0xDB;
//OCR1BH=0x05;
OCR1A = 1499;
OCR1B = 1499;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer2 Stopped
// Mode: Normal top=0xFF
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x01;

// USART initialization
// USART disabled
UCSRB=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// ADC initialization
// ADC disabled
ADCSRA=0x00;

// SPI initialization
// SPI Type: Master
// SPI Clock Rate: 250.000 kHz
// SPI Clock Phase: Cycle Start
// SPI Clock Polarity: Low
// SPI Data Order: MSB First
SPCR=0x50;
SPSR=0x00;

// TWI initialization
// TWI disabled
TWCR=0x00;

// Global enable interrupts
#asm("sei")

while (1)
      {
      // Place your code here
        if(PINC.1 == 0)
        {
            Press_Conf++;
            if(Press_Conf >= 255)
            {
                mode = ~mode;
                PORTC ^= 1 << PINC0;
                Press_Conf = 0;
            }
        }
        if(mode)
        {
            if(PINC.7 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 255)
                {
                    if(OCR1A < MAXANGLE)
                        OCR1A++;
                    Press_Conf = 0;
                }
            }
            else if(PINC.6 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 255)
                {
                    if(OCR1A > MINANGLE)
                       OCR1A--;
                    Press_Conf = 0;
                }
            }
            if(PINC.5 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 255)
                {
                    if(OCR1B < MAXANGLE)
                        OCR1B++;
                }
            }
            else if(PINC.4 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 255)
                {
                    if(OCR1B > MINANGLE)
                        OCR1B--;
                    Press_Conf = 0;
                }
            }
            if(PINC.3 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 255)
                {
                    spi(MOTOR_PLUS);
                    Press_Conf = 0;
                }
            }
            else if(PINC.2 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 255)
                {
                    spi(MOTOR_MINUS);
                    Press_Conf = 0;
                }
            }
        }
      }
}