servo motor control (Master code)

#include <mega32.h>
#define MAXANGLE    1999
#define MINANGLE    999
#define MOTOR_PLUS  0x01
#define MOTOR_MINUS 0x02

// SPI functions
#include <spi.h>
// Declare your global variables here
unsigned char mode = 0;
unsigned char state = 1;
unsigned int OCR1Avar = 1499;
interrupt [TIM0_COMP] void timer0_comp_isr(void)
{
// Place your code here
    if(mode == 1)
    {
        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);
                OCR1Avar++;
            }
            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);
                OCR1Avar--;
            }
            else
                state = 8;
            break;
        case 8: //reverse Vertical movement
            if(OCR1B-- > MINANGLE);
            else
                state = 1;
        break;
        }
    }
}


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

// 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=0xFF;

// 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 = 0x03;

// Port D 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
PORTD=0x00;
DDRD=0x30;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=0xFF
// OC0 output: Disconnected
TCCR0=0x3D;
TCNT0=0x00;
OCR0=0x01;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer1 Stopped
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// 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=0xA2;
TCCR1B=0x19;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x4E;
ICR1L=0x1F;
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=0x02;

// 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;
#asm("sei")

while (1)
      {
      // Place your code here
        if(mode == 0)
        {
            if(PINC.7 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 200)
                    if(OCR1A++ < MAXANGLE)
                        Press_Conf = 0;
            }
            else if(PINC.6 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 200)
                    if(OCR1A-- > MINANGLE)
                        Press_Conf = 0;
            }
            if(PINC.5 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 200)
                    if(OCR1B++ < MAXANGLE)
                        Press_Conf = 0;
            }
            else if(PINC.4 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 200)
                    if(OCR1B-- > MINANGLE)
                        Press_Conf = 0;
            }
            if(PINC.3 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 200)
                {
                    spi(MOTOR_PLUS);
                    Press_Conf = 0;
                }
            }
            else if(PINC.2 == 0)
            {
                Press_Conf++;
                if(Press_Conf >= 200)
                {
                    spi(MOTOR_MINUS);
                    Press_Conf = 0;
                }
            }
        }
      }
}