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$regfile = "m32def.dat"                                     
$crystal = 8000000                                         

Enable Interrupts

Config Servos = 1 , Servo1 = Portb.3 , Reload = 10
Config Pinb.3 = Output

Dim I As Integer

Do

For I = 45 To 135 Step 1
Servo(1) = I
Waitms 200                                                 
Next

For I = 135 To 45 Step -1
Servo(1) = I
Waitms 200
Next

'Или так:
Servo(1) = 40
Wait 1
Servo(1) = 135
Wait 1
Loop

Config Servos = 4 , Servo1 = Portb.3 , Servo2 = Portb.2 , Servo3 = Portd.5 , Servo4 = Portd.4 , Reload = 10

Config Pinb.3 = Output
Config Pinb.2 = Output
Config Pind.4 = Output
Config Pind.5 = Output

Config Timer1 = Pwm , Pwm = 8 , Prescale = 1 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down
Do
  Pwm1b = Speedl : Pwm1a = Speedr 
...
Loop

void motor_lld_init(void)
{
   // init i/o lines
   DIR_PORT &= ~DIR_MASK;
   DIR_DDR |= DIR_MASK;
   PWM_PORT &= ~PWM_MASK;
   PWM_DDR |= PWM_MASK;

   // clear pwm registers
   PWM_OC0 = 0;
   PWM_OC1 = 0;

   // Timer/Counter-1 init
   //
   // COM1x1:COM1x0 = 1:0 => OC1x connected to output pin, reset on compare
   // FOC1A:FOC1B = 0:0 => Don't force output compare event
   // WGM13:WGM12:WGM11:WGM10 = 0:1:0:1 => Fast PWM 8-bit
   // ICNC1 = 0 => Input Capture Noise Canceller disabled (because not needed)
   // ICES1 = 0 => Input Capture Edge Select set to "falling" mode (no matter)
   // CS12:CS11:CS10 = 0:1:0 => Timer "on", 1/8 prescaling (1 clock every 8 cpu tact)   // /8
   TCNT1 = 0;
   TCCR1A = (0<<WGM11)|(1<<WGM10);
   TCCR1B = (0<<WGM13)|(1<<WGM12)|(0<<CS12)|(1<<CS11)|(0<<CS10);
}