void menu_device(void){

stop();
menuutama1:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0);lcd_putsf("GOO !!!");
lcd_gotoxy(1,1);lcd_putsf("SETTING");
lcd_gotoxy(0,0);lcd_putchar(0);
if (!ok)
{ buzzon();delay_ms(50);timer_on();base_pwm=pwm_normal;goto start;
}
if (!up)
{ buzzon();delay_ms(50);goto menuutama2; }
if (!down) { buzzon();delay_ms(50);goto menuutama2; }
goto menuutama1;
menuutama2:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("GOO !!!");
lcd_gotoxy(1,1); lcd_putsf("SETTING");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!ok)
{ buzzon();delay_ms(50);goto
if (!cancel) { buzzon();delay_ms(50);goto
if (!up)
{ buzzon();delay_ms(50);goto
if (!down) { buzzon();delay_ms(50);goto
goto menuutama2;
menu1:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("SET PID");
lcd_gotoxy(1,1); lcd_putsf("SET SPEED");
lcd_gotoxy(0,0);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto
if (!down) { buzzon();delay_ms(50);goto
if (!ok)
{ buzzon();delay_ms(50);goto
if (!cancel) { buzzon();delay_ms(50);goto
goto menu1;
menu2:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("SET PID");
lcd_gotoxy(1,1); lcd_putsf("SET SPEED");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto
if (!down) { buzzon();delay_ms(50);goto
if (!ok)
{ buzzon();delay_ms(50);goto
if (!cancel) { buzzon();delay_ms(50);goto
goto menu2;

menu1; }
menuutama1; }
menuutama1; }
menuutama1; }

menu7; }
menu2; }
set_kp; }
menuutama1; }

menu1; }
menu3; }
set_speed; }
menu1; }

menu3:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("SET SPEED");
lcd_gotoxy(1,1); lcd_putsf("READ SENSOR");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto menu2; }
if (!down) { buzzon();delay_ms(50);goto menu4; }
if (!ok)
{ buzzon();delay_ms(50);lcd_clear(); goto read_sensor; }

if (!cancel) { buzzon();delay_ms(50);goto menu1; }

goto menu3;
menu4:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("READ SENSOR");
lcd_gotoxy(1,1); lcd_putsf("READ ADC");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto menu3; }
if (!down) { buzzon();delay_ms(50);goto menu5; }
if (!ok)
{ buzzon();delay_ms(50);goto read_adc; }
if (!cancel) { buzzon();delay_ms(50);goto menu1; }
goto menu4;
menu5:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("READ ADC");
lcd_gotoxy(1,1); lcd_putsf("SET BATAS ADC");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto menu4; }
if (!down) { buzzon();delay_ms(50);goto menu6; }
if (!ok)
{ buzzon();delay_ms(50);goto set_adc1; }
if (!cancel) { buzzon();delay_ms(50);goto menu1; }
goto menu5;
menu6:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("SET BATAS ADC");
lcd_gotoxy(1,1); lcd_putsf("SET BUZZ");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto menu5; }
if (!down) { buzzon();delay_ms(50);goto menu7; }
if (!ok)
{ buzzon();delay_ms(50);goto set_buzz; }
if (!cancel) { buzzon();delay_ms(50);goto menu1; }
goto menu6;
menu7:
stop();
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("SET BUZZ");
lcd_gotoxy(1,1); lcd_putsf("GO BLUETOOTH");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto menu6; }
if (!down) { buzzon();delay_ms(50);goto menu1; }
if (!ok)
{ buzzon();delay_ms(50);buzzoff();lcd_clear();pwm_kanan=pwm_normal;
pwm_kiri=pwm_normal;timer_on();goto gobluetooth; }
if (!cancel) { buzzon();delay_ms(50);goto menu1; }
goto menu7;
gobluetooth: //BLUETOOTH
bt=getchar();
if( bt == 'F' ) {set_motor(pwm_kiri,pwm_kanan);}
if( bt == 'G' ) {x=pwm_kiri;pwm_kiri=pwm_kiri/2;set_motor(pwm_kiri,pwm_kanan);
pwm_kiri=x;}
if( bt == 'I' ) {x=pwm_kanan;pwm_kanan=pwm_kanan/2;set_motor(pwm_kiri,pwm_kana

n);pwm_kanan=x;}
if( bt == 'B' ) {set_motor(-pwm_kiri,-pwm_kanan);}
if( bt == 'L' ) {set_motor(-pwm_kiri,pwm_kanan);}
if( bt == 'R' ) {set_motor(pwm_kiri,-pwm_kanan);}
if( bt == 'S' ) {set_motor(0,0);}
if( bt == 'V' ) {PORTD.7=1;}
if( bt == 'v' ) {buzzoff();}
if( bt == '0' ) {pwm_kanan=0;pwm_kiri=0;}
if( bt == '1' ) {pwm_kanan=25;pwm_kiri=25;}
if( bt == '2' ) {pwm_kanan=50;pwm_kiri=50;}
if( bt == '3' ) {pwm_kanan=75;pwm_kiri=75;}
if( bt == '4' ) {pwm_kanan=100;pwm_kiri=100;}
if( bt == '5' ) {pwm_kanan=125;pwm_kiri=125;}
if( bt == '6' ) {pwm_kanan=150;pwm_kiri=150;}
if( bt == '7' ) {pwm_kanan=175;pwm_kiri=175;}
if( bt == '8' ) {pwm_kanan=200;pwm_kiri=200;}
if( bt == '9' ) {pwm_kanan=225;pwm_kiri=225;}
if( bt == 'q' ) {pwm_kanan=250;pwm_kiri=250;}
if( bt == 'X' ) {buzzoff();goto menu7;}
sprintf(lcd,"%c",bt);lcd_puts(lcd);
delay_ms(50);
goto gobluetooth;
set_kp:
buzzoff();
delay_ms(delay_button);
lcd_clear();
lcd_gotoxy(0,0);sprintf(lcd," kp : %5d",kp);lcd_puts(lcd);
lcd_gotoxy(0,1);sprintf(lcd," kd : %5d",kd);lcd_puts(lcd);
lcd_gotoxy(0,0);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);kp+=1; if(kp>250)kp=0; };
if (!down) { buzzon();delay_ms(50);kp-=1; if(kp<=0)kp=250;};
if (!ok)
{ buzzon();delay_ms(50);goto set_kd; };
if (!cancel) { buzzon();delay_ms(50);goto menu1; };
goto set_kp;
set_kd:
buzzoff();
delay_ms(delay_button);
lcd_clear();
lcd_gotoxy(0,0);sprintf(lcd," kp : %5d",kp);lcd_puts(lcd);
lcd_gotoxy(0,1);sprintf(lcd," kd : %5d",kd);lcd_puts(lcd);
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);kd+=1; if(kd>250)kd=0; };
if (!down) { buzzon();delay_ms(50);kd-=1; if(kd<=0)kd=250;};
if (!ok)
{ buzzon();delay_ms(50);goto menu1; } ;
if (!cancel) { buzzon();delay_ms(50);goto set_kp; } ;
goto set_kd;
set_speed:
buzzoff();
delay_ms(delay_button);
lcd_clear();
lcd_gotoxy(0,0);
sprintf(lcd,"
Speed:%d ",pwm_normal);
lcd_puts(lcd);
if (!up)
{ buzzon();delay_ms(50);pwm_normal+=5; if(pwm_normal>255)pwm_norma
l=0; };
if (!down) { buzzon();delay_ms(50);pwm_normal-=5; if(pwm_normal<=0)pwm_normal

=255;};
if (!ok)
{ buzzon();delay_ms(50);goto menu2; };
if (!cancel) { buzzon();delay_ms(50);goto menu2; };
goto set_speed;
set_adc1:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("Per Sensor");
lcd_gotoxy(1,1); lcd_putsf("Semua Sensor");
lcd_gotoxy(0,0);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto set_adc3; }
if (!down) { buzzon();delay_ms(50);goto set_adc2; }
if (!ok)
{ buzzon();delay_ms(50);lcd_clear();x=1;goto set_alladcki; }
if (!cancel) { buzzon();delay_ms(50);goto menu5; }
goto set_adc1;
set_adc2:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("Per Sensor");
lcd_gotoxy(1,1); lcd_putsf("Semua Sensor");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto set_adc1; }
if (!down) { buzzon();delay_ms(50);goto set_adc3; }
if (!ok)
{ buzzon();delay_ms(50);goto set_adc; }
if (!cancel) { buzzon();delay_ms(50);goto menu5; }
goto set_adc2;
set_adc3:
buzzoff();
delay_ms(delay_button); lcd_clear();
lcd_gotoxy(1,0); lcd_putsf("Semua Sensor");
lcd_gotoxy(1,1); lcd_putsf("Autoset Sensor");
lcd_gotoxy(0,1);lcd_putchar(0);
if (!up)
{ buzzon();delay_ms(50);goto set_adc2; }
if (!down) { buzzon();delay_ms(50);goto set_adc1; }
if (!ok)
{ buzzon();delay_ms(50);lcd_clear(); buzzoff(); goto autoset_adc; }
if (!cancel) { buzzon();delay_ms(50);goto menu5; }
goto set_adc3;
autoset_adc:
autoset();
if (!up)
{ buzzon();delay_ms(50);batas++; if(batas>255)batas=0;}
if (!down) { buzzon();delay_ms(50);batas-=1; if(batas<=0)batas=255;}
if (!cancel) { buzzon();delay_ms(50);for(x=1;x<=7;x++){peka_kanan[x]-=80;peka_k
iri[x]-=80;}goto set_adc2; }
goto autoset_adc;
set_adc:
buzzoff();
delay_ms(delay_button);
lcd_clear();
lcd_gotoxy(0,0);
sprintf(lcd," Batas Semua");
lcd_puts(lcd);
lcd_gotoxy(0,1);
sprintf(lcd," Sensor:%3d ",batas);

lcd_puts(lcd);
if (!up)
{ buzzon();delay_ms(50);batas++; if(batas>255)batas=0;}
if (!down) { buzzon();delay_ms(50);batas-=1; if(batas<=0)batas=255;}
if (!cancel) { buzzon();delay_ms(50);for(x=0;x<=7;x++){peka_kanan[x]=batas;peka
_kiri[x]=batas;};peka_kiri[0]+=50;peka_kanan[0]+=50;goto set_adc2; }
goto set_adc;
set_alladcki:
buzzoff();
delay_ms(delay_button);
senkiri=1;
senkanan=0;
lcd_gotoxy(0,0);
sprintf(lcd,"%d Ki:%3d Ka:%3d",x,peka_kiri[x],peka_kanan[x]);
lcd_puts(lcd);
lcd_gotoxy(1,0);lcd_putchar(0);
lcd_gotoxy(0,1);
sprintf(lcd,"AdcKi:%3dKa: 0",read_adc(x));
lcd_puts(lcd);
if (!ok)
{ buzzon();delay_ms(50);goto set_alladcka; }
if (!up)
{ buzzon();delay_ms(50);peka_kiri[x]+=5; if(peka_kiri[x]>255)peka_
kiri[x]=0;}
if (!down) { buzzon();delay_ms(50);peka_kiri[x]-=5; if(peka_kiri[x]<=0)peka_k
iri[x]=255;}
if (!right) { buzzon();delay_ms(50);x+=1;if(x>7)x=1;}
if (!left) { buzzon();delay_ms(50);x-=1;if(x<1)x=7;}
if (!cancel) { buzzon();delay_ms(50);goto set_adc1; };
goto set_alladcki;
set_alladcka:
buzzoff();
delay_ms(delay_button);
senkiri=0;
senkanan=1;
lcd_gotoxy(0,0);
sprintf(lcd,"%d Ki:%3d Ka:%3d",x,peka_kiri[x],peka_kanan[x]);
lcd_puts(lcd);
lcd_gotoxy(8,0);lcd_putchar(0);
lcd_gotoxy(0,1);
sprintf(lcd,"AdcKi: 0Ka:%3d",read_adc(x));
lcd_puts(lcd);
if (!ok)
{ buzzon();delay_ms(50);goto set_alladcki; }
if (!up)
{ buzzon();delay_ms(50);peka_kanan[x]+=5; if(peka_kanan[x]>255)pek
a_kanan[x]=0;}
if (!down) { buzzon();delay_ms(50);peka_kanan[x]-=5; if(peka_kanan[x]<=0)peka
_kanan[x]=255;}
if (!right) { buzzon();delay_ms(50);x+=1;if(x>7)x=1;}
if (!left) { buzzon();delay_ms(50);x-=1;if(x<1)x=7;}
if (!cancel) { buzzon();delay_ms(50);goto set_adc1; };
goto set_alladcka;
read_sensor:
buzzoff();
baca();
if (!cancel) { buzzon();delay_ms(50);goto menu3; };
goto read_sensor;
read_adc:
buzzoff();
if (!cancel) { buzzon();delay_ms(50);goto menu4; }

else if (!left)
{
buzzon();delay_ms(70);
senkanan=0;
senkiri=1;
}
else if (!right)
{
buzzon();delay_ms(70);
senkiri=0;
senkanan=1;
}
delay_ms(100);
lcd_gotoxy(0,0);
sprintf(lcd,"%3d %3d %3d %3d",read_adc(1),read_adc(2),read_adc(3),read_ad
c(4));
lcd_puts(lcd);
lcd_gotoxy(0,1);
sprintf(lcd,"%3d %3d %3d
lcd_puts(lcd);
goto read_adc;

",read_adc(5),read_adc(6),read_adc(7));

set_buzz:
buzzoff();
delay_ms(delay_button);
lcd_clear();
lcd_gotoxy(0,0);lcd_puts("BUZZER");
lcd_gotoxy(7,0);
if(buzz==1){lcd_puts("ON");}
else if(buzz==0){lcd_puts("OFF");};
if (!up)
{ buzzon();delay_ms(50);buzz=1;};
if (!down) { buzzon();delay_ms(50);buzz=0;};
if (!cancel) { buzzon();delay_ms(50);goto menu6; };
goto set_buzz;
start:
buzzoff();
lcd_clear();
}