Arduino robot tank

I need an arduino code written I Want an rc tank that's controlled by rc with a arduino in the middle with 2 sabertooth speed controllers and a pixy one speed control with pixy for pan tilt turret to follow motion or maybe another sensor and one pixy for sabertooth 2x60 for tracks to follow something and distance sensors for avoidance and keeping distance from people I want the pixies to operate only when I'm not using rc when I'm using rc I want the sabertooth speed controllers to get the signal from the reciever and not the pixy I can go into better detail if you choose to accept this ! Price negotiable