Code Similar to what we will be using(this code has an led output rather than dual servo motor outputs):

//define pins. I used pins 4 and 5
#define irLedPin 4          // IR Led on this pin
#define irSensorPin 5       // IR sensor on this pin

int irRead(int readPin, int triggerPin); //function prototype

void setup()
{
  pinMode(irSensorPin, INPUT);
  pinMode(irLedPin, OUTPUT);
  Serial.begin(9600); 
  // prints title with ending line break 
  Serial.println("Program Starting"); 
  // wait for the long string to be sent 
  delay(100); 
}

void loop()
{  
  Serial.println(irRead(irSensorPin, irLedPin)); //display the results
  delay(10); //wait for the string to be sent
}

/******************************************************************************
 * This function can be used with a panasonic pna4602m ir sensor
 * it returns a zero if something is detected by the sensor, and a 1 otherwise
 * The function bit bangs a 38.5khZ waveform to an IR led connected to the
 * triggerPin for 1 millisecond, and then reads the IR sensor pin to see if
 * the reflected IR has been detected
 ******************************************************************************/
int irRead(int readPin, int triggerPin)
{
  int halfPeriod = 13; //one period at 38.5khZ is aproximately 26 microseconds
  int cycles = 38; //26 microseconds * 38 is more or less 1 millisecond
  int i;
  for (i=0; i <=cycles; i++)
  {
    digitalWrite(triggerPin, HIGH); 
    delayMicroseconds(halfPeriod);
    digitalWrite(triggerPin, LOW); 
    delayMicroseconds(halfPeriod - 1);     // - 1 to make up for digitaWrite overhead    
  }
  return digitalRead(readPin);
}

http://playground.arduino.cc/Main/PanasonicIrSensor