Still don't see a link to the servo controller...
#define mainbodyLEFT_Button_9 10
Really? Pin 10 is assigned a name with 9 in it?
Please don't post code that won't even compile.
if(mainbodyLEFT_Button_9_value != state1 ||mainbodyRIGHT_Button_10_value != state1||Stop_Button_13!= state1)
Stop_Button_13 is not defined anywhere, so this code will not compile.
Your send_cmd function expects 3 unsigned ints. Why are you not calling it with 3 unsigned ints?
That function is sending the 3rd argument as a byte. Why is the third argument not defined as a byte?
All calls to send_cmd have the 3rd argument as a constant, 0. How fast are the servos supposed to turn with a value of 0 as the speed?