IR sensor UAV

[Xalador]

I doing a project on kite plane using the Sharp IR sensor to move and I need help with the program. The program which the website are providing are different from what I need. I using a dc brushless motor controlled by electric speed control (ESC) and 2 unmodify servo to control the elevator. I do not need a complete program but I need a example on how control the servo movement (180 degree of movement clockwise and anti clockwise) and the motor(PWM for speed control). As for the IR sensor, do I just need to include the auto calibration code to get the input data or something? I using Atmega 328 microcontroller.