pic18F1220 output PWM

I need for the PIC18F1220 to read an analogue value from a sensor and send a PWM signal to a servo motor(direction) and another PWM to the motor to control the speed. I will provide a working code with is using a normal bang-bang controller method, however, I prefer to have a code with a simple PI controller. I understand basic coding however for my project I need to understand and present my project. Two sensors ultimately will detect a voltage induce and the analog input will be converted to the pic controller. if the sensor detects a higher induced voltage on the left, the car will turn left. and if both induce voltage is around the same the car should stay in track. The sensor will send signal to the PIC controller for it to decide which direction it will turn. A pwm signal is needed for the servo to turn. for it to turn left 5.3% duty cycle, centre 7.2% and right 9.30 % at 50 hz frequency. i will provide more details of how it works if interested.