How to put a configurable menu in magento backend?

I used up almost two weeks just to get this to work... :(
This Menu can be configured to be displayed in a specific user... (so it means you can see this module in the permission->role resources

• First is create a Basic Magento Module (recommended to put it in app/code/local)

NOTE: this is just a blog for me to remember or review my achievements so please search the Internet for terminologies or actions that you don't understand.

• Then in your module's etc/config.xml put this code

<adminhtml>
<acl>
<resources>
<admin>
<children>
<helloworld_options translate="label" module="helloworld">
   <title>PRESTOTYPE MENU</title>
   <sort_order>999</sort_order>
   <children>
     <hello_children1>
       <title>PRESTOTYPE RELATION</title>
       <sort_order>10</sort_order>
     </hello_children1>

     <hello_children2>
       <title>PRESTOTYPE MACHINE</title>
       <sort_order>20</sort_order>
     </hello_children2>
 
     <hello_children3>
       <title>PRESTOTYPE INVOICE</title>
       <sort_order>30</sort_order>
     </hello_children3>
  </children>
 </helloworld_options>
                 
       <system>
         <children>
            <config>
               <children>
                  <helloworld_options translate="label" module="helloworld">
                     <title>PRESTOTYPE MENU</title>
                  </helloworld_options>
               </children>
            </config>
         </children>
       </system>
     </children>
   </admin>
 </resources>
</acl>
</adminhtml>

• Then in your module's etc/system.xml put this code

<config>
  <tabs>
      <hellotest translate="label" module="helloworld">
          <label>Hello Testing</label>
              <sort_order>9999</sort_order>
      </hellotest>
  </tabs>
                    
  <sections>
      <hellotest translate="label" module="helloworld">
          <label>INVENTORY</label>
          <tab>hellotest</tab>
          <frontend_type>text</frontend_type>
          <action>helloworld/index/goodbye</action>
          <sort_order>1000</sort_order>
          <show_in_default>1</show_in_default>
          <show_in_website>1</show_in_website>
          <show_in_store>1</show_in_store>
      </hellotest>
  </sections>
</config>

• Then in your module's etc/adminhtml.xml put this code

<config>
  <menu>
     <helloworld_options translate="title" module="helloworld">
         <title>Prestotype Inventory</title>
         <sort_order>110</sort_order>
         <children>
            <hello_children1>
               <title>Relation</title>
               <action>helloworld/index/relation</action>
               <sort_order>10</sort_order>
            </hello_children1>
            <hello_children2>
               <title>Machine</title>
               <action>helloworld/index/machine</action>
               <sort_order>0</sort_order>
            </hello_children2>
            <hello_children3>
               <title>Invoice</title>
               <action>helloworld/index/invoice</action>
               <sort_order>100</sort_order>
            </hello_children3>
        </children>
     </helloworld_options>
   </menu>
</config>

That's IT! BUT what if I want to put an action to the menu like it will open up a new page with the url that I specified? You can put javascript to open a new window.. Here's how

• In your module's controllers/IndexController.php put this code

public function relationAction() {
  echo "<script>window.open ('http://www.yahoo.com','mywindow')</script>";
  echo "<script>window.location = 'http://127.0.0.1/magento-backend-menu/admin'</script>";}

public function machineAction() {
  echo "<script>window.open ('http://www.stitambayan.com','mywindow')</script>";
  echo "<script>window.location = 'http://127.0.0.1/magento-backend-menu/admin'</script>";}

public function invoiceAction() {
  echo "<script>window.open ('http://www.yahoo.com','mywindow')</script>";
  echo "<script>window.location = 'http://127.0.0.1/magento-backend-menu/admin'</script>";}

public function goodbyeAction() {
  echo "<script>window.open ('http://www.javascript-coder.com','mywindow')</script>";}

I just downloaded a sample module and tweaked it... from this url
http://alanstorm.com/custom_magento_system_configuration