The part of the code I last posted that has 0 being put into DUTY is there to stop the motor from running. The position is between the two required points so I want to stop motion. The other two if statments is is the motor is not in the correct position then it needs to move. To do that you change the CCP1CON.7 pin to either a 1 or 0 for full H-bridge mode, and use the standard duty cycle. It's just a way so I do not have to shut down the PWM and leave it running forever.

I will be working on this all day today, and try to give an update as I progress. If you have anything at all please let me know, I'm starting to run out of ideas. Thanks again.