God bless you guys!

1-I connected 9v 450ma(I hope 450ma is fine) power supply and connected two 7805 paralel and used a 470uf between vdd and vss.Mcu doesnt reset itself and works fine! But I think servo works a little bit slower than past.I dont know why? maybe changing power supply from 5.2 to 5 makes this difference...If its neccessary I can put here its video...

2-I think I finished left-right position and wrote a new code to complete my project.I wrote this
but That doesnt work and servo2(up-down) made some stupid moves (like vibration).Also left-right motion gets very very slower...I know I made too many mistakes.But I learned here this forum too many things that I dont know.Everybody wants to help here and I was a little suprised at the beginning of this Thread.I put my code here.

Can you help me again? t for left-right j for up-down.I bounded "j" between 135 and 115

My code is....


Code:
DEFINE LCD_DREG PORTB
DEFINE LCD_DBIT 0
DEFINE LCD_RSREG PORTB
DEFINE LCD_RSBIT 4
DEFINE LCD_EREG PORTB
DEFINE LCD_EBIT 5
DEFINE LCD_BITS  4
DEFINE LCD_LINES 2
DEFINE OSC 4                                                                       
DEFINE ADC_BITS     8       'A/D çevirim sonucu kaç bit olacak
DEFINE ADC_CLOCK  3       'Clock kaynağı (3=rc)
DEFINE ADC_SAMPLEUS 100
SYMBOL F=PORTA.0
SYMBOL G=PORTA.1
alta var byte
usta var byte
altb var byte
ustb var byte
sola var byte
solb var byte
saga var byte
sagb var byte
k var byte
t var byte
i var byte
j var byte
ADCON1=2
TRISA=%00001111 
TRISB=0
PORTB=0
TRISC=0
LCDOUT $FE,1 
pause 2000
adcin  0,ALTa
ADCin  1,usta
adcin  2,sola
adcin  3,saga

T=150
j=125
yap:




adcin  0,altb
ADCin  1,ustb
adcin  2,solb
adcin  3,sagb






if  ((((usta+10)*100)/(ustb+10)))>130 and (not (t>194)) then 
T=T+15
endif

if (((alta*100)/altb))>130 AND (not (t<51)) then 
T=T-15
endif

if  ((((sola+10)*100)/(solb+10)))>130 and (not (t>134))    then 
j=j+10
endif

if (((saga*100)/sagb))>130 AND (not (j<116)) then 
j=j-10
endif

gosub motor2
gosub motor1






  

LCDOUT $fe,2,#usta," ",#ustb," ",#altA," ",#altb
lcdOUT $fe,$C0,#T,"  ",#j    

goto yap

motor1:
for i=0 to 25
PAUSEUS 20000-(T*10)
PULSOUT PORTC.2,T

next
return

motor2:
for k=0 to 25
PAUSEUS 20000-(j*10)
PULSOUT PORTC.3,j

next
return

end