void main ()
{
int bridge=0, course_side=0, bump_side, side_align, menuitem;
int full_speed=50, half_speed=25;
int distance;
float side;

menuitem=menu();
course_side=knob_start();
side=(float)course_side;

if (menuitem==1) /* beginning */
{
light_sensor();
beep();
/* sleep(.5); */
bridge=irread();
beep();
printf("Course %d IR %d\n", course_side, bridge);
arm_servo(62.);
/* sleep(.5); */
servo_a7_init(0);
/* sleep(1.); comment this out when not needed */
part_one(side);
menuitem=menuitem+1;
}

if (menuitem==2) /* collection */
{
marblecollection(side);
sleep(1.);
menuitem=menuitem+1;
}

if (menuitem==3) /* Bridge Function */
{
cross_bridge(side, bridge); 
menuitem=menuitem+1;
}

if (menuitem==4) /* To Deposit Bins */
{
to_collection(side);
menuitem=menuitem+1;
}

if (menuitem==5) /* Sorting */
{
deposit(side);
menuitem=menuitem+1;
}

if (menuitem==6) /* Exit Course */
{
exit_course(side);
menuitem=menuitem+1;
}
}