int ready=1;
int command=0;

#define right OUT_C
#define left OUT_A
#define effector OUT_B
#define debug true

task main()
  {
    while (Message()!=0) {ClearMessage();}
    while (true)
      {
        until (Message()!=0);
        if (ready==1)
           {            
            command=(Message()-1)/15;
            ClearMessage();
            ready=0;
            if (command%3==0)
               {
                Off(effector);
                if (debug) {PlaySound(5);}
               }
            if (command%3==1)
               {
                OnFwd(effector);
                if (debug) {PlaySound(5);}
               }
            if (command%3==2)
               {
                OnRev(effector);
                if (debug) {PlaySound(5);}
               }
            if (command/3==0)
               {
                Off(right+left);
                if (debug) {PlaySound(0);}
               }
            if (command/3==1)
               {
                OnFwd(right+left);
                if (debug) {PlaySound(1);}
               }
            if (command/3==2)
               {
                OnRev(right+left);
                if (debug) {PlaySound(2);}
               }
            if (command/3==3)
               {
                OnFwd(right);
                OnRev(left);
                if (debug) {PlaySound(3);}
               }
            if (command/3==4)
               {
                OnFwd(left);
                OnRev(right);
                if (debug) {PlaySound(4);}
               }
           }
        else 
          {            
            ClearMessage(); 
            ready=1;
          }
      }
  }