I wanted to create a line following robot using 8051. I want to make it using 4 IR sensors. I have made the circuit using 89s52, L293D and 4 ir sensonrs and successfully attached the motors with the circuit. But i want to know how should i place the sensors and how should i do the programming. I looked into PWM techniques but i cant understand it as i don't know anything about timers and interrupts. Please help me its a project lying waste..