Student head of my college robotics club, written 20+10 pages of code i.e. 600 and 270 lines of code in just one night, for my automated material transferring robot. The robot is communicating with central control unit for instruction and designed in such a way that it can be controlled by Android phone, computer, keypad, or anything like that...
The main problem in controlling servo is timing that what you need... 150ms, rest is all a cake walk...
The best way to do programming is just make it simple, by that way only we can increase reliability of the code.