OK, you have a number of problems here. Don't be insulted, you are learning, and this is a good learning opportunity.
1 - Don't cast 0 as an int, it already is
2 - Don't cast 200 to a float, just declare it as 200.0 and it will be
3 - Don't cast choice to a float, you are testing on ints
4 - If the choice is 1, then call fire(ammo), don't insert the code here
5 - Don't count up to 5, this isn't very intuitive. Set ammo to 5 and count down every time you fire.
6 - Use booleans to test on when you can
7 - If user didn't enter 1-4, it's wrong then, so just use "else"
Here are some changes I would make (just for main() and fire()):
CODE
def main():
endProgram = False
ammo = 5
fuel = 200.0
while not endProgram:
#display menu
print 'Menu Selections: '
print '1 - Fire Weapon '
print '2 - Move Forward '
print '3 - Move Backward '
print '4 - Exit '
#check menu selection
choice = input('Enter your selection ')
if choice == 1:
fire(ammo)
elif choice == 2:
move = moveBot(fuel)
elif choice == 3:
move = moveBot(fuel)
elif choice == 4:
ex = raw_input('Do you really want to quit? ')
if ex in ['Y','y','YES','Yes','yes']:
endProgram = True
else:
print 'Not a valid action '
print 'Please try again '
#fire weapion 5 shots only
def fire(ammo):
if ammo > 0:
kill()
ammo -= 1
else:
print 'You are out of ammunition'