Brainstem GP 1.0 Avoidence Program

I'm working on a simple avoidance-based robotics program utilizing the Acroname Brainstem 1.0 with three IR sensors and three servo's. The hardware has been assembled. Seeking a program utilizing C or more closely simple TEA (Tiny Embedded Applications) program which can be downloaded and saved to the EEPROM on the Brainstem from the PC platform and run independently. Program Profile: Short Description of process utilizing [login to view URL] components: (3 each) IR GP2Y0A02YK Detectors (1,2,3) forward horizontal scanning in sequence and if there is something detected within each individual distance IR threshold are to have (3 each) corresponding servo (1,2,3) rotate 90 degrees. Next scan period if nothing is there in the IR range each individual servo is to return to original position. If something is detected on the subsequent scan each individual servo is to maintain it's rotation position until nothing within the IR range is detected. Short rest period then scan is repeated. That's it.