Before we get into this too much,
please read through
this thread as I really don't want to get into an issue like that again.
I'm really not sure what you mean by "it dosnt matter", could you please explain which part of my post you were referring to? Depending on what you're trying to do, the code can be very different. Anyways, Taylor's method is not necessary here regardless of what you are trying to do, so don't worry about that.
As I said before, you need to provide a little more info before I can give you a meaningful response. For the short term, you can download CogCode2k2 from my website,
http://www.robbayer.com/software.html, as it contains some optical sensor code.