 
 	actionScore = epsilon_select(ctxpair, 10);
 	switch(actionScore.action) {
-		case 0: // Drive forward, turn around, drive back UNTESTED
-			wake();
-			allForward(100);
-			delay(1000);
+		case 0: // Drive forward, turn around, drive back
+			wake();
+			allForward(100);
+			delay(2000);
 			brakes();
 			leftInPlace(180);
 			allForward(100);
-			delay(1000);
-			sleep();
-			break;
-		case 1: // Drive backward UNTESTED
-			wake();
-			allBackward(50);
+			delay(2000);
+			sleep();
+			break;
+		case 1: // Drive backward
+			wake();
+			allBackward(100);
 			delay(2000);
 			brakes();
 			sleep();
 			break;
-		case 2: // Drive in a clockwise circle UNTESTED
-			wake();
-			cwCircle(50);
-			delay(2000); // PROBABLY NEED TO CHANGE DELAY
-			sleep();
-			break;
-		case 3: // Drive in a counter-clockwise circle UNTESTED
-			wake();
-			ccwCircle(50);
-			delay(2000); // PROBABLY NEED TO CHANGE DELAY
-			sleep();
-			break;
-		case 4: // Drive in a slight squiggle for 3 seconds UNTESTED
-			wake();
-			squiggle(75, 3, 2);
-			sleep();
-			break;
-		case 5: // Drive in a larger squiggle for 3 seconds UNTESTED
-			wake();
-			squiggle(75, 3, 4);
-			sleep();
-			break;
-		case 6: // Traverse a square UNTESTED
-			wake();
-			allForward(50);
-			delay(1000);
-			leftInPlace(90);
-			allForward(50);
-			delay(1000);
-			leftInPlace(90);
-			allForward(50);
-			delay(1000);
-			leftInPlace(90);
-			allForward(50);
-			delay(1000);
-			sleep();
-			break;
-		case 7: // Traverse a triangle UNTESTED
-			wake();
-			allForward(50);
-			delay(1000);
+		case 2: // Drive in a clockwise circle
+			wake();
+			cwCircle(100);
+			delay(8000);
+			sleep();
+			break;
+		case 3: // Drive in a counter-clockwise circle
+			wake();
+			ccwCircle(100);
+			delay(8000);
+			sleep();
+			break;
+		case 4: // Drive in a slight squiggle for 5 seconds
+			wake();
+			squiggle(100, 5, 2);
+			sleep();
+			break;
+		case 5: // Drive in a larger squiggle for 5 seconds
+			wake();
+			squiggle(100, 3, 4);
+			sleep();
+			break;
+		case 6: // Traverse a square
+			wake();
+			allForward(100);
+			delay(2000);
+			leftInPlace(90);
+			allForward(100);
+			delay(2000);
+			leftInPlace(90);
+			allForward(100);
+			delay(2000);
+			leftInPlace(90);
+			allForward(100);
+			delay(2000);
+			sleep();
+			break;
+		case 7: // Traverse a triangle
+			wake();
+			allForward(100);
+			delay(2000);
 			leftInPlace(60);
-			allForward(50);
-			delay(1000);
+			allForward(100);
+			delay(2000);
 			leftInPlace(60);
-			allForward(50);
-			delay(1000);
-			sleep();
-			break;
-		case 8: // Spin in place UNTESTED
+			allForward(100);
+			delay(2000);
+			sleep();
+			break;
+		case 8: // Spin in place
 			wake();
 			leftInPlace(360);
 			rightInPlace(360);
 			sleep();
 			break;
-		case 9: // Short back and forth movements UNTESTED
+		case 9: // Short back and forth movements
 			wake();
 			allForward(100);
 			delay(100);

			delay(100);
			sleep();
			break;
		case 10: // Half circle, then come back UNTESTED
			wake();
			cwCircle(50);
			delay(1000); // PROBABLY NEED TO CHANGE DELAY
			rightInPlace(90);
			allForward(50);
			delay(800);  // PROBABLY NEED TO CHANGE DELAY
			sleep();
			break;
		case 11: // Traverse a clover UNTESTED
			wake();
			cwCircle(50);
			delay(700); // PROBABLY NEED TO CHANGE DELAY
			leftInPlace(90);
			cwCircle(50);
			delay(700); // PROBABLY NEED TO CHANGE DELAY
			leftInPlace(90);
			cwCircle(50);
			delay(700); // PROBABLY NEED TO CHANGE DELAY
			leftInPlace(90);
			cwCircle(50);
			delay(700); // PROBABLY NEED TO CHANGE DELAY
			sleep();
			break;
		case 12: // Turn left and drive UNTESTED
			wake();
			leftInPlace(90);
			allForward(100);
			delay(1000);
			sleep();
			break;
		case 13: // Turn right and drive UNTESTED
			wake();
			rightInPlace(90);
			allForward(100);
			delay(1000);
			sleep();
			break;
		case 14: // Wiggle in place UNTESTED
			wake();
			leftInPlace(30);
			rightInPlace(30);

}

// Turn the rover left in place the given number of degrees
void leftInPlace(double degrees) {
	motorize( 0, 80, 1);
	motorize( 1, 80, 0);
	motorize( 2, 80, 1);
	motorize( 3, 80, 0);
	delay(6000 * (degrees / 360)); // UNTESTED
	brakes();
}

// Turn the rover right in place the given number of degrees
void rightInPlace(double degrees) {
	motorize( 0, 80, 0);
	motorize( 1, 80, 1);
	motorize( 2, 80, 0);
	motorize( 3, 80, 1);
	delay(6000 * (degrees / 360)); // UNTESTED
	brakes();
}

