Okay thanks. I will try to be specific, but you have to understand I have been doing this for about three weeks so my vocabulary on the subject and knowledge of it is poor. Okay so here is the deal I am using a PIC processor(20 pin). I have on it two light sensors that were given to me by a professor. They are plugged into 1 pin called ra2 or ra0 can't remember. I think I am going to change this and plug them into their own pins. I guess my questions would be as follows: I know how to make it move ( i think ) but i don't know how to start it, what i mean is there are two motors each connected to a pin. in MATLAB how do i control these pins? do i give them a name or do they have one already? I read about variables, else, if, for, while, and a few other functions a little bit. In order to make it run i set both wheels to 1 right? and to make it stop i set them to 0? For the light sensors i think I am going to make it where if you shine light on one it turns right and for the other it turns left. so i guess i would use an if and say if light >20 then do this? am i on the right track?