I'm building a line following robot with Arduino UNO R3 for a uni project and can't seem to get it working at all... it should work on the basis of using 2 photoreflectors to detect a black line.
I've used a chassis with 2x DC motors hooked up through 2 MOSFETs to an external power source and a digital pin per motor which works perfectly with Firefly (program for externally controlling arduino).
I then have 2x photo-reflectors each with 4 pins (Cathode, anode, emitter and collector) which I've got hooked up to live & ground but for the hell of me can't work out in which order they should connect back to arduino 
I'm a tad confused how the emitter and collector pins should connect to allow me to connect to the analogue pins, and also how the 2 photo-reflectors should connect in relation to each other, any suggestions?
Finally I am trying to get away from using Firefly to control it seeing as that requires a computer connection so I need to write the sketch to allow the robot to run. I've been using a few examples I'll post links to but I am entirely lost...I don't have a great deal of time to be spending on building the robot seeing as it's only to allow me to carry out other processes of experiments and I reeeeeally need some help!
If I can't work the arduino programming/sketches then I guess I can always get some really long wires to connect back to the arduino board but it would look better if I could get it wirelessly running 
My main concern is probably the hooking it up to the board.
Any help at all would be HUGELY appreciated!
Links I've been looking at:
http://www.botbuilder.co.uk/codeandprojects/bbline/
http://garagelab.com/profiles/blogs/tutorial-make-your-line-following-robot
Code I currently have:
#define STB 10 //Standby
//Motor left
#define PWMA 3 //Speed control
#define AIN1 7 //Direction
#define AIN2 8 //Direction
#define MOTOR_L 1 //Left motor as 1
//Motor right
#define PWMB 9 //Speed control
#define BIN1 6 //Direction
#define BIN2 5 //Direction
#define MOTOR_R 2 //Right motor right as 2
#define SENSOR_D A0 // Pins of reflectance sensor
#define SENSOR_L A1 // Pins of reflectance sensor
void setup()
{
pinMode(STB, OUTPUT);
pinMode(PWMA, OUTPUT);
pinMode(AIN1, OUTPUT);
pinMode(AIN2, OUTPUT);
pinMode(PWMB, OUTPUT);
pinMode(BIN1, OUTPUT);
pinMode(BIN2, OUTPUT);
Serial.begin(9600);
}
void loop()
{
int val_sense = read_sensors();// Return status of sensors
switch(val_sense)
{
case 0:
move(MOTOR_L, 255, 1); //Motor left, full speed, forward
move(MOTOR_R, 255, 1); //Motor right, full speed, forward
break;
case 1:
move(MOTOR_R, 0, 1); //Motor right, stop.
move(MOTOR_L, 255, 1); //Motor left, full speed, forward
break;
case 2:
move(MOTOR_L, 0, 1); //Motor left, stop.
move(MOTOR_R, 255, 1); //Motor right, full speed, forward
break;
case 3:
move(MOTOR_L, 100, 2); //Motor left, less speed, backward
move(MOTOR_R, 100, 2); //Motor right, less speed, backward
break;
}
}
void move(int motor, int speed, int direction)
{
//Move specific motor at speed and direction
//motor: 2 for B and 1 for A
//speed: 0 is off, and 255 is full speed
//direction: 0 backward, 1 forward
digitalWrite(STB, HIGH); //disable standby
boolean inPin1 = LOW;
boolean inPin2 = HIGH;
if(direction == 1)
{
inPin1 = HIGH;
inPin2 = LOW;
}
if(motor == 1)
{
digitalWrite(AIN1, inPin1);
digitalWrite(AIN2, inPin2);
analogWrite(PWMA, speed);
}
else
{
digitalWrite(BIN1, inPin1);
digitalWrite(BIN2, inPin2);
analogWrite(PWMB, speed);
}
}
int read_sensors()
{
//Read Sensor of Right
int sensors = 0;
pinMode( SENSOR_D, OUTPUT );
digitalWrite( SENSOR_D, HIGH );
delayMicroseconds(10);
pinMode( SENSOR_D, INPUT );
long time = micros();
while (digitalRead(SENSOR_D) == HIGH && micros() - time < 3000);
int diff = micros() - time;
if (diff > 1600)
sensors += 1;
//Read Sensor of Left
pinMode( SENSOR_L, OUTPUT );
digitalWrite( SENSOR_L, HIGH );
delayMicroseconds(10);
pinMode( SENSOR_L, INPUT );
long time1 = micros();
while (digitalRead(SENSOR_L) == HIGH && micros() - time1 < 3000);
int diff1 = micros() - time1;
if (diff1 > 1600)
sensors += 2;
return sensors;
}