ethan's rotate work
Merge branch 'master' of github.com:alexschlegel/mwlearn
Merge branch 'master' of github.com:alexschlegel/mwlearn
Merge branch 'master' of github.com:alexschlegel/mwlearn
Merge branch 'master' of github.com:alexschlegel/mwlearn
Merge branch 'master' of github.com:alexschlegel/mwlearn
Merge branch 'master' of github.com:alexschlegel/mwlearn
Merge branch 'master' of github.com:alexschlegel/mwlearn
Ethan's code development