/* place your #defines and global variable declarations here */

void program()
{

  /* declare your variables here */
int c;

  /* your program goes here */

open();
sleep(2.0);
c=closed();

if(c==1){printf("Closed on object\n");height(3);}
if(c==2){printf("Closed completely\n");return;}

}

/* put your functions and subroutines here */
void open()
{motor(1,20);
while(digital(9)==0){}
motor(1,0);}

void height(int n)
{int h=(n-1)*10+205;
while(h>analog(3)){motor(3,-60);}
while(h<analog(3)){motor(3,60);}
motor(3,0);}

void close()
{motor(1,-40);
while(digital(12)==0){}
motor(1,0);}

int close2()
{motor(1,-40);
while(digital(15)==0){}
motor(1,0);
return 1;}

int closed()
{motor(1,-40);
while(digital(12)==0 && digital(15)==0){}
motor(1,0);
if(digital(12)==1){return 1;}
if(digital(15)==1){return 2;}
}
/*********************************************************************/
/********* FROM HERE ON ARE MENU ROUTINES: LEAVE AS IS ***************/
/*********************************************************************/


void main()
{
  while (1==1) {
    ao();
    menu();  
    ao();
    program();
  }

}

char menu_choices[5][32] = {"Any button = run user program","MOTOR: Start=FWD  0  : Stop=RVS","MOTOR: Start=FWD  1  : Stop=RVS","MOTOR: Start=FWD  2  : Stop=RVS","MOTOR: Start=FWD  3  : Stop=RVS"};

int menu_motorstate = 0;					      
int menu_choice = 9;						      
int menu_motorpower = 80;					      

void menu() {

  while (1) {

    while (stop_button() || start_button()) {}
    sleep(0.05);
    while (stop_button() || start_button()) {}
    sleep(0.05);
    while (stop_button() || start_button()) {}
    sleep(0.05);
    while (stop_button() || start_button()) {}
    
    menu_choice = select_string(menu_choices, 5);

    if ((menu_choice == -1) || (menu_choice == 0)) {
      printf("\n\n");
      return;
    }
    else {
      if (menu_choice == 1) {
	motor(0, menu_motorpower);
      }
      if (menu_choice == 2) {
	motor(0, -menu_motorpower);
      }
      if (menu_choice == 3) {
	motor(1, menu_motorpower);
      }
      if (menu_choice == 4) {
	motor(1, -menu_motorpower);
      }
      if (menu_choice == 5) {
	motor(2, menu_motorpower);
      }
      if (menu_choice == 6) {
	motor(2, -menu_motorpower);
      }
      if (menu_choice == 7) {
	motor(3, menu_motorpower);
      }
      if (menu_choice == 8) {
	motor(3, -menu_motorpower);
      }

      while (stop_button() || start_button()) {}
      
      ao();

    }
    
  }

}

int select_string(char choices[][],int n)
{

  int selection,last_selection=-1,coarseness;
  if(n>_array_size(choices))
    n=_array_size(choices);

  coarseness=255/(n-1);

  while(!(stop_button() || start_button()))
    {
      selection=(knob())/coarseness;
      if(selection!=last_selection)
	{
	  printf("%s\n",choices[selection]);
	  sleep(0.1);
	  last_selection=selection;
	}
    }
  if (start_button()) {
    return selection * 2 - 1;
  }
  else {
    return selection * 2;
  }
}