All the sensors are working at this point. We pulled an all-nighter to design a new beacon detector only to find out in the morning that our old one was working. The arm is attached and moving, and the motors are responding to bump events. We started writing the state machine and the first problem we encountered was with the motors, only one of them was turning. We ran our test harness to see if the problem was with the hardware or the software. The motors were fine, and we found that the error was within the software. The second problem we had was that the we were triggering a FRONT_BUMP event on the closing of a switch and on an opening of a switch. We only wanted this to happen on a closed switch. We rewrote the event checkers and had it transitioning correctly.