Damn your motos are COOL. Mine are http://www.servocity.com/html/s3003_servo_standard.html, way more economical! I was reading this post with my brother that helps me with C code and he said "now i understand why his movements are so smooth and ours are not!" 
by the way, I am noticing that those s3003 servos have some jitter by thefault, this is driving me crazy because sometimes I don't understand if it's our code or it's the servo. They are ok only for testing or for limited applications...