 			delay(100);
 			sleep();
 			break;
-		case 10: // Half circle, then come back UNTESTED
-			wake();
-			cwCircle(50);
-			delay(1000); // PROBABLY NEED TO CHANGE DELAY
+		case 10: // Half circle, then come back NEEDS TWEAKING
+			wake();
+			cwCircle(100);
+			delay(4000);
 			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
+			allForward(100);
+			delay(2000); 
+			sleep();
+			break;
+		case 11: // Traverse a clover NEEDS TWEAKING
+			wake();
+			cwCircle(80);
+			delay(2000);
+			leftInPlace(90);
+			cwCircle(80);
+			delay(2000);
+			leftInPlace(90);
+			cwCircle(80);
+			delay(2000);
+			leftInPlace(90);
+			cwCircle(80);
+			delay(2000);
+			sleep();
+			break;
+		case 12: // Turn left and drive
+			wake();
+			leftInPlace(90);
+			allForward(100);
+			delay(2000);
+			sleep();
+			break;
+		case 13: // Turn right and drive
 			wake();
 			rightInPlace(90);
 			allForward(100);
-			delay(1000);
-			sleep();
-			break;
-		case 14: // Wiggle in place UNTESTED
+			delay(2000);
+			sleep();
+			break;
+		case 14: // Wiggle in place
 			wake();
 			leftInPlace(30);
 			rightInPlace(30);

			rightInPlace(30);
			sleep();
			break;
		case 15: // Traverse a spiral UNTESTED
			wake();
			ccwCircle(100);
			delay(1000); // PROBABLY NEED TO CHANGE DELAY
			ccwCircle(80);
			delay(800); // PROBABLY NEED TO CHANGE DELAY
			ccwCircle(60);
			delay(600); // PROBABLY NEED TO CHANGE DELAY
			ccwCircle(40);
			delay(400); // PROBABLY NEED TO CHANGE DELAY
			ccwCircle(20);
			delay(200); // PROBABLY NEED TO CHANGE DELAY
			sleep();
			break;
		default: // Do nothing


	actionScore = epsilon_select(ctxpair, 10);
	switch(actionScore.action) {
		case 0: // Drive forward, turn around, drive back
			wake();
			allForward(100);
			delay(2000);
			brakes();
			leftInPlace(180);
			allForward(100);
			delay(2000);
			sleep();
			break;
		case 1: // Drive backward
			wake();
			allBackward(100);
			delay(2000);
			brakes();
			sleep();
			break;
		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(100);
			delay(2000);
			leftInPlace(60);
			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
			wake();
			allForward(100);
			delay(100);
