diff --git a/Makefile b/Makefile
index 2e29734..2546b93 100644
--- a/Makefile
+++ b/Makefile
@@ -11,3 +11,6 @@ clean:
 
 run: build
 	${BINARY_PATH}
+
+test:
+	go test
diff --git a/event.go b/event.go
index 22766a7..fb2f350 100644
--- a/event.go
+++ b/event.go
@@ -14,10 +14,10 @@ func (event * BaseEvent) update(signal GraphSignal) {
   event.signal <- signal
 
   if event.parent != nil && signal.Type() != "abort"{
-    event.parent.update(signal)
+    SendUpdate(event.parent, signal)
   } else if signal.Type() == "abort" {
     for _, child := range(event.Children()) {
-      child.update(signal)
+      SendUpdate(child, signal)
     }
   }
 }
@@ -56,7 +56,7 @@ type Event interface {
   LockParent()
   UnlockParent()
   Action(action string) (func()(string, error), bool)
-  Handler(signal_type string) (func() (string, error), bool)
+  Handler(signal_type string) (func(GraphSignal) (string, error), bool)
   RequiredResources() []Resource
   DoneResource() Resource
 
@@ -66,7 +66,7 @@ type Event interface {
   setParent(parent Event)
 }
 
-func (event * BaseEvent) Handler(signal_type string) (func()(string, error), bool) {
+func (event * BaseEvent) Handler(signal_type string) (func(GraphSignal)(string, error), bool) {
   handler, exists := event.handlers[signal_type]
   return handler, exists
 }
@@ -126,12 +126,15 @@ func AddChild(event Event, child Event, info EventInfo) error {
   event.UnlockChildren()
   event.UnlockParent()
 
+  update := NewSignal(event, "child_added")
+  update.description = child.Name()
   SendUpdate(event, NewSignal(event, "child_added"))
   return nil
 }
 
 func RunEvent(event Event) error {
   log.Printf("EVENT_RUN: %s", event.Name())
+  go SendUpdate(event, NewSignal(event, "event_start"))
   next_action := "start"
   var err error = nil
   for next_action != "" {
@@ -226,7 +229,7 @@ type BaseEvent struct {
   child_info map[string]EventInfo
   child_lock sync.Mutex
   actions map[string]func() (string, error)
-  handlers map[string]func() (string, error)
+  handlers map[string]func(GraphSignal) (string, error)
   parent Event
   parent_lock sync.Mutex
   abort chan string
@@ -253,7 +256,7 @@ func NewBaseEvent(name string, description string, required_resources []Resource
     done_resource: done_resource,
     required_resources: required_resources,
     actions: map[string]func()(string, error){},
-    handlers: map[string]func()(string, error){},
+    handlers: map[string]func(GraphSignal)(string, error){},
     abort: make(chan string, 1),
   }
 
@@ -268,7 +271,7 @@ func NewBaseEvent(name string, description string, required_resources []Resource
     } else {
       signal_fn, exists := event.Handler(signal.Type())
       if exists == true {
-        return signal_fn()
+        return signal_fn(signal)
       }
     }
     // ignore signals other than "abort" and "do_action"
@@ -353,7 +356,7 @@ func NewEventQueue(name string, description string, required_resources []Resourc
         err := LockResources(event)
         // start in new goroutine
         if err != nil {
-          //log.Printf("Failed to lock %s: %s", event.Name(), err)
+          log.Printf("Failed to lock %s: %s", event.Name(), err)
         } else {
           info.state = "running"
           log.Printf("EVENT_START: %s", event.Name())
@@ -374,8 +377,12 @@ func NewEventQueue(name string, description string, required_resources []Resourc
 
 
     for _, resource := range(needed_resources) {
-      queue.listened_resources[resource.ID()] = resource
-      resource.RegisterChannel(queue.signal)
+      _, exists := queue.listened_resources[resource.ID()]
+      if exists == false {
+        log.Printf("REGISTER_RESOURCE: %s - %s", queue.Name(), resource.Name())
+        queue.listened_resources[resource.ID()] = resource
+        resource.RegisterChannel(queue.signal)
+      }
     }
 
     queue.UnlockChildren()
@@ -395,15 +402,19 @@ func NewEventQueue(name string, description string, required_resources []Resourc
     return "queue_event", nil
   }
 
-  queue.handlers["child_added"] = func() (string, error) {
+  queue.handlers["arena_connected"] = func(signal GraphSignal) (string, error) {
+    return "queue_event", nil
+  }
+
+  queue.handlers["child_added"] = func(signal GraphSignal) (string, error) {
     return "queue_event", nil
   }
 
-  queue.handlers["lock_change"] = func() (string, error) {
+  queue.handlers["lock_changed"] = func(signal GraphSignal) (string, error) {
     return "queue_event", nil
   }
 
-  queue.handlers["event_done"] = func() (string, error) {
+  queue.handlers["event_done"] = func(signal GraphSignal) (string, error) {
     return "queue_event", nil
   }
 
@@ -435,7 +446,6 @@ func (event * BaseEvent) ChildInfo(idx Event) EventInfo {
 }
 
 func (event * BaseEvent) LockChildren() {
-  log.Printf("LOCKING CHILDREN OF %s", event.Name())
   event.child_lock.Lock()
 }
 
diff --git a/graph.go b/graph.go
index ce26899..15ce817 100644
--- a/graph.go
+++ b/graph.go
@@ -4,6 +4,7 @@ import (
   "log"
   "sync"
   "github.com/google/uuid"
+  "time"
 )
 
 // Generate a random graphql id
@@ -16,12 +17,18 @@ type GraphSignal interface {
   Source() GraphNode
   Type() string
   Description() string
+  Time() time.Time
 }
 
 type BaseSignal struct {
   source GraphNode
   signal_type string
   description string
+  time time.Time
+}
+
+func (signal BaseSignal) Time() time.Time {
+  return signal.time
 }
 
 func (signal BaseSignal) Source() GraphNode {
@@ -134,7 +141,12 @@ func (node * BaseNode) update(signal GraphSignal) {
 }
 
 func SendUpdate(node GraphNode, signal GraphSignal) {
-  log.Printf("UPDATE %s: %+v", node.Name(), signal)
+  if signal.Source() != nil {
+    log.Printf("UPDATE %s -> %s: %+v", signal.Source().Name(), node.Name(), signal)
+  } else {
+    log.Printf("UPDATE %s: %+v", node.Name(), signal)
+
+  }
   node.UpdateListeners(signal)
   node.update(signal)
 }
diff --git a/manager_test.go b/manager_test.go
index dd5d374..03c28fc 100644
--- a/manager_test.go
+++ b/manager_test.go
@@ -22,9 +22,9 @@ func (t * graph_tester) CheckForValue(listener chan GraphSignal, str string) {
 func (t * graph_tester) CheckForNone(listener chan GraphSignal, str string) {
   timeout := time.After(listner_timeout)
   select {
-    case <- listener:
-      t.Fatal(str)
-    case <-timeout:
+  case sig := <- listener:
+    t.Fatal(fmt.Printf("%s : %+v", str, sig))
+  case <-timeout:
   }
 }
 
@@ -182,7 +182,7 @@ func TestLockResource(t * testing.T) {
   NotifyResourceLocked(r3)
 
   (*graph_tester)(t).CheckForValue(r1_l, "No value on r1 update channel")
-  (*graph_tester)(t).CheckForValue(rel, "No value on root_event update channel")
+  (*graph_tester)(t).CheckForNone(rel, "Value on root_event update channel")
 
   err = LockResource(r3, root_event)
   if err == nil {
@@ -211,7 +211,7 @@ func TestLockResource(t * testing.T) {
   NotifyResourceUnlocked(r3)
 
   (*graph_tester)(t).CheckForValue(r1_l, "No update on r1 after unlocking r3")
-  (*graph_tester)(t).CheckForValue(rel, "No update on rel after unlocking r3")
+  (*graph_tester)(t).CheckForNone(rel, "Update on rel after unlocking r3")
 
   err = LockResource(r4, root_event)
   if err != nil {
@@ -220,7 +220,7 @@ func TestLockResource(t * testing.T) {
   NotifyResourceLocked(r4)
 
   (*graph_tester)(t).CheckForValue(r1_l, "No update on r1 after locking r4")
-  (*graph_tester)(t).CheckForValue(rel, "No update on rel after locking r4")
+  (*graph_tester)(t).CheckForNone(rel, "Update on rel after locking r4")
 
   err = UnlockResource(r4, root_event)
   if err != nil {
diff --git a/resource.go b/resource.go
index 0d8003d..653673c 100644
--- a/resource.go
+++ b/resource.go
@@ -17,11 +17,11 @@ func (resource * BaseResource) update(signal GraphSignal) {
     for _, parent := range resource.Parents() {
       SendUpdate(parent, signal)
     }
+    if resource.lock_holder != nil {
+      SendUpdate(resource.lock_holder, signal)
+    }
   }
 
-  if resource.lock_holder != nil {
-    SendUpdate(resource.lock_holder, signal)
-  }
 }
 
 // Resource is the interface that DAG nodes are made from
@@ -115,13 +115,22 @@ func LockResource(resource Resource, event Event) error {
     return errors.New(err_str)
   }
 
+  err := resource.lock(event)
+  if err != nil {
+    resource.UnlockState()
+    err_str := fmt.Sprintf("Failed to lock resource: %s", err)
+    return errors.New(err_str)
+  }
+
   var lock_err error = nil
+  locked_resources := []Resource{}
   for _, child := range resource.Children() {
     err := LockResource(child, event)
     if err != nil{
       lock_err = err
       break
     }
+    locked_resources = append(locked_resources, child)
   }
 
   if lock_err != nil {
@@ -132,11 +141,6 @@ func LockResource(resource Resource, event Event) error {
 
   resource.SetOwner(event)
 
-  err := resource.lock(event)
-  if err != nil {
-    resource.UnlockState()
-    return errors.New("Failed to lock resource")
-  }
 
   resource.UnlockState()
   return nil
diff --git a/vex.go b/vex.go
index 32ca3fd..141d0f6 100644
--- a/vex.go
+++ b/vex.go
@@ -107,7 +107,7 @@ func (arena * Arena) Connect(abort chan error) bool {
     signal := NewSignal(arena, "arena_connected")
     signal.description = update_str
     arena.connected = true
-    go arena.update(signal)
+    go SendUpdate(arena, signal)
     log.Printf("VIRTUAL_ARENA goroutine starting: %s", arena.Name())
     for true {
       select {
@@ -115,7 +115,7 @@ func (arena * Arena) Connect(abort chan error) bool {
         log.Printf("Virtual arena %s aborting", arena.Name())
         break
       case update := <- arena.signal:
-        log.Printf("%s update: %s", arena.Name(), update)
+        log.Printf("%s update: %+v", arena.Name(), update)
         new_owner := arena.Owner()
         if new_owner != owner {
           log.Printf("NEW_OWNER for %s", arena.Name())
@@ -143,6 +143,8 @@ func (arena * Arena) Connect(abort chan error) bool {
 }
 
 const start_slack = 3000 * time.Millisecond
+const TEMP_AUTON_TIME = time.Second * 3
+const TEMP_DRIVE_TIME = time.Second * 5
 
 func NewMatch(alliance0 * Alliance, alliance1 * Alliance, arena * Arena) * Match {
   name := fmt.Sprintf("Match: %s vs. %s on %s", alliance0.Name(), alliance1.Name(), arena.Name())
@@ -162,18 +164,87 @@ func NewMatch(alliance0 * Alliance, alliance1 * Alliance, arena * Arena) * Match
     return "wait", nil
   }
 
-  match.actions["queue_autonomous"] = func() (string, error) {
+  match.handlers["queue_autonomous"] = func(signal GraphSignal) (string, error) {
+    if match.state != "scheduled" {
+      log.Printf("BAD_STATE: %s: %s", signal.Type(), match.state)
+      return "wait", nil
+    }
     match.control = "none"
     match.state = "autonomous_queued"
     match.control_start = time.Now().Add(start_slack)
+    go SendUpdate(match, NewSignal(match, "autonomous_queued"))
     return "wait", nil
   }
 
-  match.actions["start_autonomous"] = func() (string, error) {
-    match.control = "autonomous"
+  match.handlers["start_autonomous"] = func(signal GraphSignal) (string, error) {
+    if match.state != "autonomous_queued" {
+      log.Printf("BAD_STATE: %s: %s", signal.Type(), match.state)
+      return "wait", nil
+    }
+    match.control = "program"
     match.state = "autonomous_running"
+    // TODO replace with typed protobuf
+    match.control_start = signal.Time()
+    go SendUpdate(match, NewSignal(match, "autonomous_running"))
+    go func(match * Match) {
+      control_wait := time.Until(match.control_start.Add(TEMP_AUTON_TIME))
+      time.Sleep(control_wait)
+      SendUpdate(match, NewSignal(match, "autonomous_done"))
+    }(match)
+    return "wait", nil
+  }
+
+  match.handlers["autonomous_done"] = func(signal GraphSignal) (string, error) {
+    if match.state != "autonomous_running" {
+      log.Printf("BAD_STATE: %s: %s", signal.Type(), match.state)
+      return "wait", nil
+    }
+    match.control = "none"
+    match.state = "autonomous_done"
+
     return "wait", nil
   }
 
+  match.handlers["queue_driver"] = func(signal GraphSignal) (string, error) {
+    if match.state != "autonomous_done"{
+      log.Printf("BAD_STATE: %s: %s", signal.Type(), match.state)
+      return "wait", nil
+    }
+    match.control = "none"
+    match.state = "driver_queued"
+    match.control_start = time.Now().Add(start_slack)
+    go SendUpdate(match, NewSignal(match, "driver_queued"))
+    return "wait", nil
+  }
+
+  match.handlers["start_driver"] = func(signal GraphSignal) (string, error) {
+    if match.state != "driver_queued" {
+      log.Printf("BAD_STATE: %s: %s", signal.Type(), match.state)
+      return "wait", nil
+    }
+    match.control = "driver"
+    match.state = "driver_running"
+    match.control_start = signal.Time()
+
+    go SendUpdate(match, NewSignal(match, "driver_running"))
+    go func(match * Match) {
+      control_wait := time.Until(match.control_start.Add(TEMP_DRIVE_TIME))
+      time.Sleep(control_wait)
+      SendUpdate(match, NewSignal(match, "driver_done"))
+    }(match)
+    return "wait", nil
+  }
+
+  match.handlers["driver_done"] = func(signal GraphSignal) (string, error) {
+    if match.state != "driver_running" {
+      log.Printf("BAD_STATE: %s: %s", signal.Type(), match.state)
+      return "wait", nil
+    }
+    match.control = "none"
+    match.state = "driver_done"
+
+    return "", nil
+  }
+
   return match
 }
diff --git a/vex_test.go b/vex_test.go
index 56fbccd..45b8634 100644
--- a/vex_test.go
+++ b/vex_test.go
@@ -3,6 +3,8 @@ package main
 import (
   "testing"
   "fmt"
+  "runtime/pprof"
+  "os"
   "time"
 )
 
@@ -131,6 +133,7 @@ func TestNewMatch(t *testing.T) {
   arena := NewVirtualArena(arena_name)
 
   match := NewMatch(alliance_1, alliance_2, arena)
+  match_c := match.UpdateChannel()
   root_event := NewEventQueue("root_event", "", []Resource{})
   r := root_event.DoneResource()
 
@@ -138,12 +141,47 @@ func TestNewMatch(t *testing.T) {
   event_manager.AddEvent(root_event, match, NewEventQueueInfo(1))
 
   go func() {
-    time.Sleep(time.Second * 5)
+    time.Sleep(time.Second * 20)
     if r.Owner() != nil {
+      pprof.Lookup("goroutine").WriteTo(os.Stdout, 1)
       AbortEvent(root_event)
     }
   }()
 
+  go func(match_c chan GraphSignal) {
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after starting 1")
+    (*graph_tester)(t).CheckForNone(match_c, "update to match after starting 2")
+    SendUpdate(match, NewSignal(nil, "queue_autonomous"))
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after queueing autonomous 1")
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after queueing autonomous 2")
+    (*graph_tester)(t).CheckForNone(match_c, "update to match after queueing autonomous 3")
+    auton_signal := NewSignal(nil, "start_autonomous")
+    auton_signal.time = time.Now()
+    SendUpdate(match, auton_signal)
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after starting autonomous 1")
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after starting autonomous 2")
+    (*graph_tester)(t).CheckForNone(match_c, "update to match after starting autonomous 3")
+    time.Sleep(TEMP_AUTON_TIME)
+    time.Sleep(time.Millisecond * 100)
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after ending autonomous 1")
+    (*graph_tester)(t).CheckForNone(match_c, "update to match after ending autonomous 2")
+    SendUpdate(match, NewSignal(nil, "queue_driver"))
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after queueing driver 1")
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after queueing driver 2")
+    (*graph_tester)(t).CheckForNone(match_c, "update to match after queueing driver 3")
+    driver_signal := NewSignal(nil, "start_driver")
+    driver_signal.time = time.Now()
+    SendUpdate(match, driver_signal)
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after starting driver 1")
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after starting driver 2")
+    (*graph_tester)(t).CheckForNone(match_c, "update to match after starting driver 3")
+    time.Sleep(TEMP_DRIVE_TIME)
+    time.Sleep(time.Millisecond * 100)
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after game done 1")
+    (*graph_tester)(t).CheckForValue(match_c, "no update to match after game done 2")
+    (*graph_tester)(t).CheckForNone(match_c, "update to match after game done 3")
+  }(match_c)
+
   err := event_manager.Run()
   if err != nil {
     t.Fatal(err)