task main()          // SLAVE
{
  while (true)
  {
    ClearMessage();
    until (Message() != 0);
    if (Message() == 1) {OnFwd(OUT_A+OUT_C);}
    if (Message() == 2) {OnRev(OUT_A+OUT_C);}
    if (Message() == 3) {Off(OUT_A+OUT_C);}
  }
}