 }
 
 // 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);

	brakes();
}

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


	actionScore = epsilon_select(ctxpair, 10);
	switch(actionScore.action) {
		case 0: // Drive forward, turn around, drive back UNTESTED
			wake();
			allForward(100);
			delay(1000);
			brakes();
			leftInPlace(180);
			allForward(100);
			delay(1000);
			sleep();
			break;
		case 1: // Drive backward UNTESTED
			wake();
			allBackward(50);
			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);
			leftInPlace(60);
			allForward(50);
			delay(1000);
			leftInPlace(60);
			allForward(50);
			delay(1000);
			sleep();
			break;
		case 8: // Spin in place UNTESTED
			wake();
			leftInPlace(360);
			rightInPlace(360);
			sleep();
			break;
		case 9: // Short back and forth movements UNTESTED
			wake();
			allForward(100);
			delay(100);
			allBackward(100);
			delay(100);
			allForward(100);
			delay(100);
			allBackward(100);
			delay(100);
			allForward(100);
			delay(100);
			allBackward(100);
			delay(100);
			allForward(100);
			delay(100);
			allBackward(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();
			// ACTION
			sleep();
			break;
		case 13: // Turn right and drive UNTESTED
			wake();
			// ACTION
			sleep();
			break;
		case 14: // Small spins back and forth UNTESTED
			wake();
			// ACTION
			sleep();
			break;
		case 15: // Traverse a spiral UNTESTED
			wake();
			// ACTION
			sleep();
			break;
		default: // Do nothing
			break;
	}
