persistent int counts;

void main(){

  
  int qtmenu = 8;
  pgain1 = 4;
  pgain2 = 4;
  dgain1 = 1;
  dgain1 = 1;
  
  while(1){
      printf ("\nChuck Norris - TP 3");
      sleep (1.5);
      // Menu Principal
      // Espera que o usuario escolha uma tarefa
      // atraves do knob
      while(1){
          // Wavefront
          if ( (knob()>=0) && (knob()<(255/qtmenu)) ){
              printf ("\n1 - Wavefront");
              while ( (knob()>=0) && (knob()< (255/qtmenu))){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      wavefront();
                      break;
                  }
              }
          }
          if ((knob()>(255/qtmenu)) && (knob()<=(2*(255/qtmenu)))){
              printf ("\n2 - Calibrar Ganho");
              while ( (knob()>=(255/qtmenu)) && (knob()<=(2*(255/qtmenu))) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      CalibrarGanhos();
                      break;
                  }
              }
          }
          if ((knob()>(2*(255/qtmenu))) && (knob()<=(3*(255/qtmenu)))){
              printf ("\n3 - Andar Reto");
              while ( (knob()>(2*(255/qtmenu))) && (knob()<=(3*(255/qtmenu))) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      Reto(counts);
                      break;
                  }
              }
          }
          if ((knob()>(3*(255/qtmenu))) && (knob()<=(4*(255/qtmenu)))){
              printf ("\n4 - Escolhe Distancia");
              while ( (knob()>(3*(255/qtmenu))) && (knob()<=(4*(255/qtmenu))) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      EscolheDistancia();
                      break;
                  }
              }
          }
          
          if ((knob()>(4*(255/qtmenu))) && (knob()<=(5*(255/qtmenu)))){
              printf ("\n5 - Seguir Parede - 3 states");
              while ( (knob()>(4*(255/qtmenu))) && (knob()<=(5*(255/qtmenu))) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      Wall();
                      break;
                  }
              }
          }
          
          if ((knob()>(5*(255/qtmenu))) && (knob()<=(6*(255/qtmenu)))){
              printf ("\n6 - Seguir Parede - hard");
              while ( (knob()>(5*(255/qtmenu))) && (knob()<=(6*(255/qtmenu))) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      Wallhard();
                      break;
                  }
              }
          }
          
          if ((knob()>(6*(255/qtmenu))) && (knob()<=(7*(255/qtmenu)))){
              printf ("\n7 - Seguir Parede - gentle");
              while ( (knob()>(6*(255/qtmenu))) && (knob()<=(7*(255/qtmenu))) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      Wallgentle();
                      break;
                  }
              }
          }
          
          if ((knob()>(7*(255/qtmenu))) && (knob()<=(8*(255/qtmenu)))){
              printf ("\n8 - Seguir Parede - 3 state generico");
              while ( (knob()>(7*(255/qtmenu))) && (knob()<=(8*(255/qtmenu))) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      Wallthrestategenerico();
                      break;
                  }
              }
          }
          
          if ((knob()>(8*(255/qtmenu))) && (knob()<=255)){
              printf ("\n9 - Calibrar Parede");
              while ( (knob()>(8*(255/qtmenu))) && (knob()<=255) ){
                  if (start_button()){
                      beep();
                      sleep(0.5);
                      // Chama a tarefa
                      CalibrarParede();
                      break;
                  }
              }
          }
      }
  }

}