Arduino code for object following robot

My c programming is very limited but i have been put in a learning position through my work the Royal Navy.

Am looking for arduino code for a object following robot, using IR sensors. I have the exact details for my project that i can send across if you wish.

I currently have an IR Sharp sensor that can read distances, and a servo that rotates and when the sensor sees a object it stops rotating but thats all i can do.

Many thanks

James