programming

hi
can anyone help me to pogram the below shown circuit in keil.i am trying to program it but i am facing the problem in timer commands. i want the circuit to transverse for some distance and later turn its direction and again transverse. i am controlling the motion from a PC

can anyone help me in programming of 8051 in keil

If Servos

My project is close to you.
I use 8051 to control servos motors by generating PWM.
It is a long story, please see:
https://mcu-programming.blogspot.com/2006/09/servo-motor-control.html