 #define UNKNOWN 0b0100
 
 // limit ourselves to possibly four actions for a given context pair
-#define A0_MASK   0b1111000000000000
-#define A1_MASK   0b0000111100000000
-#define A2_MASK   0b0000000011110000
-#define A3_MASK   0b0000000000001111
+#define ACTION0_MASK   0b1111000000000000
+#define ACTION1_MASK   0b0000111100000000
+#define ACTION2_MASK   0b0000000011110000
+#define ACTION3_MASK   0b0000000000001111
 
 //int lookups[256];
 //lookups[0b00101010] = 0b0011110111001001;


		ActionScore maxScore;

		db.readRec(records[ctxpair] & (15 << 0), EDB_REC actionScore1 );
		db.readRec(records[ctxpair] & (15 << 1), EDB_REC actionScore2 );
		db.readRec(records[ctxpair] & (15 << 2), EDB_REC actionScore3 );
		db.readRec(records[ctxpair] & (15 << 3), EDB_REC actionScore4 );

		maxScore = actionScore1;
		if(maxScore > actionScore2.score) {

			break;
	}

	switch(ctxpair & TO_CTX_MASK) {
		case SAD:
			break;
		case MAD:
			break;
		case FEARFUL:
			break;
		case DISTRACTED:
			break;
		case HAPPY:
			break;
		case CALM:
			break;
		case FOCUSED:
			break;
		default:
			break;
	}

	actionScore = epsilon_select(ctxpair, 10);
	switch(actionScore.action) {
		case 0: // Drive forward, turn around, drive back
