 }
 
 // Moves the rover forward in a squiggly line for a given length in seconds
-// Larger squigFactors result in more squiggly lines
+// Larger squigFactors result in more squiggly lines, must be larger than 1
 void squiggle(int squigSpeed, int squigTime, int squigFactor) {
 	for (int i = 0; i < squigTime; i += 2000) {
 		motorize(0, squigSpeed, 1);


	actionScore = epsilon_select(ctxpair, 10);
	switch(actionScore.action) {
		case 0: // Drive forward, turn around, drive back
			wake();
			allForward(100);
			delay(1000);
			brakes();
			motorize( 0, 50, 1); // UNTESTED 180 deg turn
			motorize( 1, 50, 0); // UNTESTED
			motorize( 2, 50, 1); // UNTESTED
			motorize( 3, 50, 0); // UNTESTED
			delay(1000); // PROBABLY NEED TO CHANGE DELAY
			brakes();
			allForward(100);
			delay(1000);
			sleep();
			break;
		case 1: // Drive backward
			wake();
			allBackward(50);
			delay(2000);
			brakes();
			sleep();
		case 2: // Drive in a clockwise circle
			wake();
			cwCircle(50);
			delay(2000); // PROBABLY NEED TO CHANGE DELAY
			sleep();
		case 3: // Drive in a counter-clockwise circle
			wake();
			ccwCircle(50);
			delay(2000); // PROBABLY NEED TO CHANGE DELAY
			sleep();
		case 4: // Drive in a slight squiggle for 3 seconds
			wake();
			squiggle(75, 3, 2);
			sleep();
		case 5: // Drive in a larger squiggle for 3 seconds
			wake();
			squiggle(75, 3, 4);
			sleep();
		case 6:
			wake();
			// ACTION
			sleep();
		case 7:
			wake();
			// ACTION
			sleep();
		case 8:
			wake();
			// ACTION
			sleep();
		case 9:
			wake();
			// ACTION
			sleep();
		case 10:
			wake();
			// ACTION
			sleep();
		case 11:
			wake();
			// ACTION
			sleep();
		case 12:
			wake();
			// ACTION
			sleep();
		case 13:
			wake();
			// ACTION
			sleep();
		case 14:
			wake();
			// ACTION
			sleep();
		case 15:
			wake();
			// ACTION
			sleep();
		default: // Do nothing
			break;
	}

	brakes();
}

// Turn the rover left in place the given number of degrees
void leftInPlace(int degrees) {
	motorize( 0, 50, 1);
	motorize( 1, 50, 0);
	motorize( 2, 50, 1);
	motorize( 3, 50, 0);
	delay(1000 * (degrees / 360)); // UNTESTED
	brakes();
}

// Turn the rover right in place the given number of degrees
void rightInPlace(int degrees) {
	motorize( 0, 50, 0);
	motorize( 1, 50, 1);
	motorize( 2, 50, 0);
	motorize( 3, 50, 1);
	delay(1000 * (degrees / 360)); // UNTESTED
	brakes();
}

// Send speeds of zero in backward direction to stop wheels
void brakes() {
	motorize( 0, 0, 0);
