int menu (void)
{
int menuitem, knobvalue, started=0, distance;
while(started==0)
{
knobvalue=knob();

if (knobvalue<13) /* Start From Beginning */
{
printf("Beginning %d\n",knobvalue);
if(start_button()==1)
{
menuitem=1;
started=1;
}
}

if (knobvalue>13 && knobvalue<26) /* Marble Collection */
{
printf("Marble Collect %d\n",knobvalue);
if(start_button()==1)
{
menuitem=2;
started=1;
}
}

if (knobvalue>39 && knobvalue<52) /* Bridge Function */
{
printf("Bridge %d\n",knobvalue);
if(start_button()==1)
{
menuitem=3;
started=1;
}
}

if (knobvalue>52 && knobvalue<65) /* To Collection Bins */
{
printf("To Collection Bins %d\n",knobvalue);
if(start_button()==1)
{
menuitem=4;
started=1;
}
}

if (knobvalue>65 && knobvalue<78) /* Sorting */
{
printf("Sorting... %d\n",knobvalue);
if(start_button()==1)
{
menuitem=5;
started=1;
}
}

if (knobvalue>78 && knobvalue<91) /* Exit Course */
{
printf("Exit Course %d\n",knobvalue);
if(start_button()==1)
{
menuitem=6;
started=1;
}
}

if (knobvalue>91 && knobvalue<104) /* Quick Straight Test */
{
printf("Straight Test %d\n",knobvalue);
if(start_button()==1)
{
distance=straight(50,50,100.,0);
}
}

if (knobvalue>104 && knobvalue<117) /* Default Start from beginning */
{
printf("Start this Mother %d\n",knobvalue);
if(start_button()==1)
{
menuitem=1;
started=1;
}
}

if (knobvalue>117) /* Trademark Start */
{
printf("Team F1 It's How Robot Is DONE\n",knobvalue);
if(start_button()==1)
{
menuitem=1;
started=1;
}
if(stop_button()==1)
{
tone(391.995,.1);
tone(329.628,.1);
tone(261.626,.2);
sleep(.01);
tone(261.626,.2);
sleep(.01);
tone(261.626,.1);
tone(293.665,.1);
tone(329.628,.1);
tone(349.228,.1);
tone(391.995,.2);
sleep(.01);
tone(391.995,.2);
sleep(.01);
tone(391.995,.2);
tone(329.628,.2);
}
}
sleep(.1);
}
return menuitem;
}