Ok Basically this is my pseudocode. It's very rough though I did it in around a minute.
start both wheel servos full speed
if object too close in sight move back and move ir sensors left and right to choose direction
if object is blocking left side and not right.. right servo spins backwards and then both servos at full speed
if object is blocking right side and not left... left servo spins backwards then both servos at full speed
if object is blocking both sides... move back and make right servo moves backwards and goto main