May be I'm too late... 
I made a simple library for menu management and used it to write a sketch for you.
All your application behaviour is coded as following (it works , I tested it):
Of course you need to write the true fireAction callback (it is simulated on a serial terminal by now);
You can find and download freely the library with some notes at
Only be aware of the following
- it needs I2c lcd (i tested with 20x4 chars display, but it should work with 16x2 as well, with minor changes to the labels)
- you need 6 buttons by now (but if you use I2C lcds you save lots of precious pins ...)
I hope this can be usefull for you.
Have a nice play!
//MENWIZ ESAMPLE
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <buttons.h>
#include <MENWIZ.h>
// DEFINE ARDUINO PINS FOR THE NAVIGATION BUTTONS
#define UP_BOTTON_PIN 9
#define DOWN_BOTTON_PIN 10
#define LEFT_BOTTON_PIN 7
#define RIGHT_BOTTON_PIN 8
#define CONFIRM_BOTTON_PIN 12
#define ESCAPE_BOTTON_PIN 11
//Create global object LCD and MENU
menwiz menu;
LiquidCrystal_I2C lcd(0x27,20,4);
//instantiate global variables to bind to menu
byte m=0;
int fd=0,yd=0;
void setup(){
_menu *r,*s1;
Serial.begin(19200);
// inizialize the menu object (20 colums x 4 rows LCD)
menu.begin(&lcd,20,4);
//create the menu tree
r=menu.addMenu(MW_ROOT,NULL,"GOLF ROBOT"); //create a root menu at first (required)
s1=menu.addMenu(MW_VAR,r,"Modes"); //add a terminal node in the menu tree (that is "variable");
s1->addVar(MW_LIST,&m); //create the terminal node variable of type OPTION LIST and bind it to the app variable "m"
s1->addItem(MW_LIST,"Drive"); //add an option to the OPTION LIST
s1->addItem(MW_LIST,"Punch"); //add an other option to the OPTION LIST
s1->addItem(MW_LIST,"Chip"); //add the third option to the OPTION LIST
s1->addItem(MW_LIST,"Putt"); //add the last option to the OPTION LIST
s1=menu.addMenu(MW_VAR,r,"Putt Dist.(feets)"); //create an other "variable" menu terminal mode
s1->addVar(MW_AUTO_INT,&fd,0,100,1); //int type, fd binded variable, rage 0-100, step 1
s1=menu.addMenu(MW_VAR,r,"Other Dist. (yrds)");
s1->addVar(MW_AUTO_INT,&yd,0,300,5); //int type, yd binded variable, rage 0-300, step 5
s1=menu.addMenu(MW_VAR,r,"Fire action"); //latest menu entry
s1->addVar(MW_ACTION,fireAction); // associate an action (variable of type function) to the menu entry
//declare navigation buttons (required)
// equivalent shorter call: menu.navButtons(9,10,7,8,11,12);
menu.navButtons(UP_BOTTON_PIN,DOWN_BOTTON_PIN,LEFT_BOTTON_PIN,RIGHT_BOTTON_PIN,ESCAPE_BOTTON_PIN,CONFIRM_BOTTON_PIN);
}
void loop(){
// NAVIGATION MANAGEMENT & DRAWING ON LCD. NOT BLOCKING
menu.draw();
//PUT APPLICATION CODE HERE
// if any .... :-)
}
// user defined action for fire action
void fireAction(){
Serial.print("FIRED ");
switch (m){
case 0:
Serial.print("Drive to ");Serial.print(yd); Serial.println(" yrds");
break;
case 1:
Serial.print("Punch to ");Serial.print(yd); Serial.println(" yrds");
break;
case 2:
Serial.print("Chip to ");Serial.print(yd); Serial.println(" yrds");
break;
case 3:
Serial.print("Put to "); Serial.print(fd); Serial.println(" feets");
break;
default:
break;
}
Serial.println("ACE!");
}