下面就用这种方法进行编程。
#include
unsigned char servo_angle_H[8];
unsigned char servo_angle_L[8];

unsigned char compensate_TL;
unsigned char compensate_TH;
 
unsigned char p;

 
void set_servo  (unsigned char angle0,unsigned char angle1,
    unsigned char angle2,unsigned char angle3,
    unsigned char angle4,unsigned char angle5,
    unsigned char angle6,unsigned char angle7)
{
unsigned int temp,temp0,value[8];
unsigned char i;

for(i=0;i<8;i++){
  servo_angle_H[i]=64468/256;
  servo_angle_L[i]=64468%256; 
}
   
  compensate_TL=50268%256;   
  compensate_TH=50268/256;    

 temp = angle0+angle1+angle2+angle3+angle4+angle5+angle6+angle7;
value[0]=65068-(100*angle0)/9;
value[1]=65068-(100*angle1)/9;
value[2]=65068-(100*angle2)/9;
value[3]=65068-(100*angle3)/9;
value[4]=65068-(100*angle4)/9;
value[5]=65068-(100*angle5)/9;
value[6]=65068-(100*angle6)/9;
value[7]=65068-(100*angle7)/9;
for(i=0;i<8;i++){
  servo_angle_H[i]=value[i]/256; 
  servo_angle_L[i]=value[i]%256;
} 
 

  temp0=46068+(100*temp)/9;   
  compensate_TL=temp0%256;   
  compensate_TH=temp0/256;
 

}
//主程序***********************************************************************
void main(void) 
{unsigned int a;unsigned int b;
 INTCON=0;
 GIE=1;//  ;打开总中断
 PEIE=1;//  ;打开外部中断使能位
 TMR1IE=1;//  ;打开TMR1中断
 
 TRISD=0X00;
 PORTD= 0X00;//脉冲波形起始状态 
 T1CON=0x01;//设置TMR1的控制字 
 
 TMR1IF=0;  

unsigned char i;

set_servo  (13,34,56,87,80,123,156,13);
while(1){; }
 
}
//中断服务程序*************************************************************
void  interrupt timer1(void)  
{
 TMR1IF=~TMR1IF;
 
switch(p){
 case 0: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0X01;
 break;
 case 1: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0B00000010;
 break;
 case 2: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0B00000100;
 break;
 case 3: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0B00001000;
 break; 
 case 4: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0B00010000;
 break;
 case 5: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0B00100000;
 break;
 case 6: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0B01000000;
 break;
 case 7: TMR1L=servo_angle_L[p];TMR1H=servo_angle_H[p];PORTD=0B10000000;
 break;
 default:TMR1L=compensate_TL;TMR1H=compensate_TH;PORTD=0B00000000;p=0;
 break;
  }
 p++;
}