Hi Peter
Yes, I do exactly the same thing and it has worked really well and being busy with other projects, I`ve never really gone back to tidy it up as it works. That being said, it was my first true attempt at programming a PIC so I`m sure there are improvements that could be made to it. The only extra thing that I did to it was a limit setting function which is fantastic! You can set limits at either side of the work which means you can move from one side and back again, with the click of a button, just moving the travel as needed.
If you need any help let me know and I`ll do my best...