[Phil_Lutz]

Looking at the default code
Navigate.h contains

Left Sensor servo in pwm01
Right Sensor servo in pwm02
Left Drive Motor in pwm03
Right Drive Motor in pwm04

The IR Sensors 1,2,3,4 are configured like this
1 - Left/Left (LL) - Left Sensor on Left Servo
2 - Left/Right (LR) - Right Sensor on Left Servo
3 - Right/Left (RL) -Left Sensor on Right Servo
4 - Right/Right (RR) - Right sensor on Right Servo

They get plugged into
LL - digital 3
LR - digital 4
RL - digital 5
RR - digital 6

The Digital input rc_dig_07 (digital 7) is the switch which states which beacon you are going to chase. Wire a toggle switch on you robot and plug it into Digital 7.
When you set up you robot on the field, you can flip this switch to have the code point to the beacon emmitting the "0" pulse or the beacon emitting the "1" pulse.

Hope this helps.

Phil