START Start
  Initialize everything
  REPEAT
    IF Got an incoming message?\Yes\No
      Process it and add response (if any?) to response message queue
      ENDIF
    IF Time since last send\> 250 msec\< 250 msec
      IF Anything in queue?\Yes\No
        Send next response and remove it from the queue
        Restart transmit timer
        ENDIF
      ENDIF
    FOREVER