Motor control system

Right now, I am at a complete standstill...

Having program designing the wheel encoder as the OPAMP circuit I designed to use IR LED as IR Photodiode is not working as expected, and Analog being my path of high resistance, I am unable to proceed any furthur without external help...

I am also worried about ambient light interference with the sensors.

If I can get the wheel encoder working reliably, I will have to then worry about resolution and finally a MCS.... with PID control.

I will dedicate a PIC to a pair of motors - for every differential drive - that will be my design.

I definitely hope to get this working, atleast the wheel encoder part by November.