void main(){
    int id;
    id=start_process(Menu());
    start_process(LerStop(id));
}

void Menu(){
    ao();
    printf("\nAperte Start\n");
    start_press();
    MenuPrincipal();
}


void LerStop(int id)
{
    stop_press();
    printf("\nEncerrando....\n");
    ao();
    kill_process(id);
    id=start_process(Menu());
    start_process(LerStop(id));
}





void MenuPrincipal()
{
    int vel5;    
    int vel6;
    int a, b;
    int id;
    int opcao,opcaoant=-1, finaliza=0, i, encerrou=0;
    int inicia=0;
    /*
    while (!start_button())
    {
        a=(255-analog(0));
        b=(255-analog(1));
        
        printf("%d %d %d \n", analog(2),digital(14),a-b);
        sleep(0.1);
    }
    
   */

    /*

    while (1)
    {
        motor(3,40);
        sleep(1.0);
        motor(3,-40);
        sleep(1.0);
        alloff();
        sleep(0.5);
    }
  */
    /*
    MotorEncOne(2,10,1);
    alloff();
    motor(3,-60);
    sleep(0.8);
    alloff();
    
    
    while (1)
      {
        if (analog(2)<120)
          { 
            alloff();
            motor(3,60);
            sleep(0.8);
            alloff();
            sleep(1.0);
            
            MotorEncOne(2,12,0);
            
            alloff();
            break;
        } 
    }
    
}

*/
/*TESTANDO BRACO
    MotorEncOne(2,5,1);
    
    alloff();
    sleep(0.4);
    
    printf("S %d\n", encoder4_counts);
    sleep(3.0);
    encoder4_counts =0 ;
    MotorEncOne(2,5,0); 
    alloff();
        sleep(0.4);
    printf("D %d\n", encoder4_counts);
    encoder4_counts =0 ;
    alloff();
    
}*/
/* 
         
    
    while (1)
    {
    if (analog(2)<50)
          { 
            alloff();
            motor(3,60);
            sleep(1.4);
            alloff();
            sleep(1.0);
            
            MotorEncOne(2,12,0);
            
            alloff();
            break;
        }
    }
    
    while (analog(11)&&analog(10))
    {
        MotorEnc(1,1,1);
    }
    
    
}  


    
    */
    printf("Grupo 2 - Automatos \n");
    sleep(0.2);
       sleep(.2);
    encoder5_counts =0 ;
    encoder6_counts =0 ;
    encoder4_counts =0 ;
   
    while(((!stop_button())&&(!finaliza)))
      {
      
         {
             printf("Selecione a orientacao: \n");
             sleep(0.2);
                
              while(1)
             {
                int i=(int)(knob()/255)*2-1;
        
                sleep(0.1);
                printf("Polarisacao: %d\n",i);
                
                sleep(0.1);
                    if (start_button())   
                   {
                    
                    while (1)
                      {
                        
                        if (analog(3)<80)
                        {  
                            AchaLuz((int)(knob()/255)*2-1);
                            ChecaOrientacao(2);
                            finaliza=1;

                        }
                    }
                    
                    
                    }
                    alloff();
                    if (finaliza)
                      {
                        printf("Aperte start para continuar:");
                        start_press();
                        finaliza=0;
                    }
                }
                
            }     
            }
    
}

/*

while(1)
      {
        
        int i=(int)(knob()/255)*2-1;
        
        sleep(0.1);
        printf("Polarisacao: %d\n",i);
        
       if (start_button())
       {
          AchaLuz(i);
           alloff();
           
           MotorEnc(1,-1,32);
           ChecaOrientacao(0);
       }
        
    }
*/