Thanks again Dave. I have implmented the transmitters and detectors. I have two detectors one on portd.0 and other on portd.1. (Basically for left and right turns). I have two visible leds on porte.0 and porte.1. I'm trying to get away with using just one detector to make both turns. Lets see how it works ...

I had to use straws wrapped with black tape on the detector to narrow the detection zone from around 30 degrees to 10 degrees. When IR is detected the detector output goes low and the respective visible leds on portE light up!

So basically polling my IR detector using "if loops" work well and I'm using my portb interrupts for bumper switches etc.

I also have added 4 IR LEDS to my 2N2222. All of them work perfectly. I now have to place them appropriately.

I used my sony digital still camera to see my IR's light and took some pics!! Looks cool! Its a pink color!

I have one more day to get everything going. I also have to add an LCD and a 5x7 dot matric led!!! Its all in my head .. got all the ports and schematics figured out .. but u know the errors that are gonna popup as i actually put them together. Seems like i'm using around 30 of my 34 ports on my 16F877A!!

Thanks again
Samuel