diff --git a/Bearbeiten2.c b/Bearbeiten2.c
index b740bb7..6adb8a8 100644
--- a/Bearbeiten2.c
+++ b/Bearbeiten2.c
@@ -1,9 +1,15 @@
-#include <rtai_mbx.h>
-#include <rtai_sched.h>
-#include <rtai_sem.h>
+//#include <rtai_mbx.h>
+//#include <rtai_sched.h>
+//#include <rtai_sem.h>
+//#include <sys/rtai_modbus.h>
+
+#include "include/rtai_mbx.h"
+#include "include/rtai_sched.h"
+#include "include/rtai_sem.h"
+#include "include/rtai_modbus.h"
+#include <stdbool.h>
 
 #include <uint128.h>
-#include <sys/rtai_modbus.h>
 
 #define SENSOR_PART_TURNTABLE 1<<0
 #define SENSOR_PART_DRILL 1<<1
@@ -25,7 +31,8 @@
 MODULE_LICENSE("GPL");
 
 static RT_TASK turntable_task, drill_task, tester_task, output_task;
-static MBX tester_mbx, output_mbx, drill_mbx, turntable_mbx;
+static MBX turntable_status_mbx, tester_status_mbx, output_status_mbx, drill_status_mbx;
+static MBX output_data_mbx, drill_data_mbx;
 static SEM semaphore;
 
 int connection;
@@ -39,8 +46,13 @@ void end(bool fail) {
     rt_task_delete(&drill_task);
     rt_task_delete(&output_task);
 
-    rt_mbx_delete(&tester_mbx);
-    rt_mbx_delete(&output_mbx);
+    rt_mbx_delete(&turntable_status_mbx);
+    rt_mbx_delete(&tester_status_mbx);
+    rt_mbx_delete(&output_status_mbx);
+    rt_mbx_delete(&drill_status_mbx);
+    rt_mbx_delete(&output_data_mbx);
+    rt_mbx_delete(&drill_data_mbx);
+
     rt_sem_delete(&semaphore);
 
     stop_rt_timer();
@@ -49,6 +61,7 @@ void end(bool fail) {
         rt_printk("failed to read/send Modbus message.\n");
         rt_printk("module needs to be restarted.\n");
     }
+    exit(-1);
 }
 
 /**
@@ -61,8 +74,6 @@ void end(bool fail) {
  */
 int readAll(int type, int *result) {
     int res = rt_modbus_get(connection, type, 0, (unsigned short *) result);
-    //rt_printk("%d\n", res);
-    //rt_printk("%d", &result);
     return res;
 }
 
@@ -115,37 +126,58 @@ void enable(int actor) {
     if(result) end(true);
 }
 
+void sendMail(MBX * mailbox, int msg) {
+    int mbxStatus = rt_mbx_send(mailbox, &msg, sizeof(int));
+    if(mbxStatus) end(true);
+}
+
+void sendMailNonBlocking(MBX * mailbox, int msg) {
+    int mbxStatus = rt_mbx_send_if(mailbox, &msg, sizeof(int));
+    if(mbxStatus) end(true);
+}
+
+int receiveMail(MBX * mailbox) {
+    int msg = 0;
+    int mbxStatus = rt_mbx_receive(mailbox, &msg, sizeof(int));
+    if(mbxStatus) end(true);
+    return msg;
+}
+
+int receiveMailNonBlocking(MBX * mailbox) {
+    int msg = 0;
+    int mbxStatus = rt_mbx_receive_if(mailbox, &msg, sizeof(int));
+    if(mbxStatus) end(true);
+    return msg;
+}
+
 void sleepStuff(void) {
     rt_sleep(1000 * nano2count(1000000));
 }
 
 static void turntable(long data) {
-//	rt_printk("started turntable task");
-//    disable(ACTOR_TURNTABLE);
-//
-//    while (1) {
-//        int partOnTable = readData(SENSOR_PART_TURNTABLE);
-//        rt_printk("%d", partOnTable);
-//        if (partOnTable) {
-//            enable(ACTOR_TURNTABLE);
-//        } else {
-//            disable(ACTOR_TURNTABLE);
-//        }
-//
-//        sleepStuff();
-//    }
-	while (1) {
-
-	        sleepStuff();
-	    }
+	rt_printk("started turntable task");
+    disable(ACTOR_TURNTABLE);
 
+    while (1) {
+        receiveMail(&turntable_status_mbx);
+        receiveMail(&turntable_status_mbx);
+        receiveMail(&turntable_status_mbx);
+        int partOnTable = readData(SENSOR_PART_TURNTABLE);
+        rt_printk("%d", partOnTable);
+        enable(ACTOR_TURNTABLE);
+        disable(ACTOR_TURNTABLE);
+        sendMail(&tester_status_mbx, 1);
+        sendMail(&drill_status_mbx, 1);
+        sendMail(&output_status_mbx, 1);
+    }
 }
 
 static void tester(long data) {
+    rt_printk("started tester task");
 
 	disable(ACTOR_TESTER);
     while (1) {
-
+        receiveMail(&tester_status_mbx);
     	int partOnTable = readData(SENSOR_PART_TESTER);
     	rt_printk("part: %d\n", partOnTable);
     	if(partOnTable) {
@@ -153,27 +185,19 @@ static void tester(long data) {
     		sleepStuff();
     		int partNormal = readData(SENSOR_PART_TEST);
     		if(partNormal) {
-    			//nachricht bohrer(ON)
-    			int msg = 1;
-    			int mbxStatus = rt_mbx_send(&drill_mbx, &msg, sizeof(int));
-    			if(mbxStatus) end(true);
+    			sendMail(&drill_data_mbx, 1);
     		} else {
-    			//nachricht bohrer(OFF)
-    			int msg = 0;
-    			int mbxStatus = rt_mbx_send(&drill_mbx, &msg, sizeof(int));
-    			if(mbxStatus) end(true);
+    			sendMail(&drill_data_mbx, 0);
     		}
     		rt_printk("normal %d\n", partNormal);
     		disable(ACTOR_TESTER);
-    		//Nachricht drehteller
     	}
-
-        sleepStuff();
+    	sendMail(&turntable_status_mbx, 1);
     }
 }
 
 static void drill(long data) {
-
+    rt_printk("starting drill task");
     disable(ACTOR_DRILL);
     disable(ACTOR_PART_HOLD);
     disable(ACTOR_DRILL_DOWN);
@@ -187,11 +211,10 @@ static void drill(long data) {
     disable(ACTOR_DRILL_UP);
 
     while (1) {
+        receiveMail(&drill_status_mbx);
     	int part = readData(SENSOR_PART_DRILL);
     	if(part) {
-    		int msg = 0;
-    		int mbxStatus = rt_mbx_receive(&drill_mbx, &msg, sizeof(int));
-    		if(mbxStatus) end(true);
+    		int msg = receiveMailNonBlocking(&drill_data_mbx);
     		if(msg) {
     			enable(ACTOR_PART_HOLD);
     			enable(ACTOR_DRILL);
@@ -212,31 +235,25 @@ static void drill(long data) {
 				disable(ACTOR_DRILL_UP);
     		}
     	}
-    	int msg = part;
-    	int mbxStatus = rt_mbx_send(&output_mbx, &msg, sizeof(int));
-    	if(mbxStatus) end(true);
-
-        sleepStuff();
+    	sendMailNonBlocking(&output_data_mbx, 1);
+    	sendMail(&turntable_status_mbx, 1);
     }
 }
 
 static void output(long data) {
+    rt_printk("starting output task");
+    disable(ACTOR_EXIT);
 
     while (1) {
-    	//turntable msg
-
-    	int msg = 0;
-    	int mbxStatus = rt_mbx_receive(&output_mbx, &msg, sizeof(int));
-    	if(mbxStatus) end(true);
+        receiveMail(&output_status_mbx);
+        int msg = receiveMailNonBlocking(&output_data_mbx);
 
     	if(msg) {
     		enable(ACTOR_EXIT);
     		sleepStuff();
     		disable(ACTOR_EXIT);
     	}
-    	//nachricht an turntable
-
-        sleepStuff();
+    	sendMail(&turntable_status_mbx, 1);
     }
 }