#define right OUT_C
#define left  OUT_A
#define both  OUT_A + OUT_C

task main()
{
  ClearMessage();
  SetPower(both, OUT_FULL);
  SetTimer(0, 0);
  
  while(1) {

   switch(Message()) {

     case 1: OnFwd(right); ClearMessage(); ClearTimer(0);  break;
     case 2: OnFwd(both); ClearMessage(); ClearTimer(0); break;
     case 3: OnFwd(both); ClearMessage(); ClearTimer(0); break;
     case 4: OnFwd(left); ClearMessage(); ClearTimer(0); break;
     case 5: OnFwd(right); OnRev(left); ClearTimer(0); ClearMessage(); break;
     case 6: OnFwd(both); ClearMessage(); ClearTimer(0); break;
     case 7: OnFwd(both); ClearMessage(); ClearTimer(0); break;
     case 8: OnFwd(left); OnRev(right); ClearMessage(); ClearTimer(0); break;
     case 9: OnFwd(right); OnRev(left); ClearMessage(); ClearTimer(0); break;
     case 10: OnFwd(both); ClearMessage(); ClearTimer(0); break;
     case 11: OnFwd(both); ClearMessage(); ClearTimer(0); break;
     case 12: OnFwd(left); OnRev(right); ClearMessage(); ClearTimer(0); break;
     case 13: OnRev(left); ClearMessage(); ClearTimer(0); break;
     case 14: OnRev(both); ClearMessage(); ClearTimer(0); break;
     case 15: OnRev(both); ClearMessage(); ClearTimer(0); break;
     case 16: OnRev(right); ClearMessage(); ClearTimer(0); break;
     default: if (Timer(0) > 5) {
                Off(both);
                ClearMessage();
                ClearTimer(0); break;
              }//if (Timer(0) > 15)
   }//switch(Message())
  }//while(1)
}