Arduino Robot Sumo

Hi

I'm making a sumo robot with 2 dc motors with wheels, and a few positioning sensors (cny, sharp).
I want to manage the motor activation, but depending on the sensor's answers, determine the movement conditions.
I try to configure them with some arduino functions like millis, but it seems so hard to do.
I've seen some posts about multitasking processes with some libraries or functions, but I don't know so clear how to use them, so I'd like if someone has idea of that, give me an advise.

Thank u for read and sorry for my spain's english, i'm a bit rusty.

sorry for my spain's english, i'm a bit rusty.

Would it be easier for you if this question were moved to the Spanish section of the forum ?