diff --git a/src/futility/Flag.java b/src/futility/Flag.java
index fb7972d..44f80af 100644
--- a/src/futility/Flag.java
+++ b/src/futility/Flag.java
@@ -95,7 +95,7 @@ else if (parts.length == 3) {
                 }
                 else if (parts[1].equals("b")) {
                     x = Settings.PHYSICAL_BOUNDARY().getCenter().getX();
-                    y = Settings.PHYSICAL_BOUNDARY().getTop();
+                    y = Settings.PHYSICAL_BOUNDARY().getBottom();
                 }
                 else if (parts[1].equals("l")) {
                     x = Settings.PHYSICAL_BOUNDARY().getLeft();
diff --git a/src/futility/PositionEstimate.java b/src/futility/PositionEstimate.java
index 4378e55..09dd17e 100644
--- a/src/futility/PositionEstimate.java
+++ b/src/futility/PositionEstimate.java
@@ -32,6 +32,14 @@ public final Point getPosition() {
         return position;
     }
     
+    public final double getX() {
+    	return position.getX();
+    }
+    
+    public final double getY() {
+    	return position.getY();
+    }
+    
     public final String render(int time) {
         return this.position.render() + " with " + Double.toString(this.getConfidence(time)) + " confidence.";
     }
diff --git a/src/futility/Settings.java b/src/futility/Settings.java
index 11cc328..7676fe5 100644
--- a/src/futility/Settings.java
+++ b/src/futility/Settings.java
@@ -21,7 +21,8 @@ public class Settings {
     public static final double FIELD_HEIGHT = 68.0;
     public static final double FIELD_BUFFER = 5.0;
     public static final double GOAL_HEIGHT = 14.02;
-    public static final double PENALTY_AREA_DISTANCE = 16.5; // Unconfirmed
+    public static final double PENALTY_AREA_WIDTH = 16.5; // 97.4% confirmed in robocup; based on size of actual field
+    public static final double PENALTY_AREA_HEIGHT = 40.3; // 97.4% confirmed in robocup; based on size of actual field
     
     // Other constants
     public static final char LEFT_SIDE = 'l';
@@ -63,11 +64,11 @@ public static class LOG_LEVELS {
     }
     
     public static Rectangle PENALTY_AREA_LEFT() {
-        return new Rectangle(FIELD_BUFFER + FIELD_HEIGHT / 2.0 + GOAL_HEIGHT / 2.0 + PENALTY_AREA_DISTANCE, FIELD_BUFFER + PENALTY_AREA_DISTANCE, FIELD_BUFFER - GOAL_HEIGHT / 2 - PENALTY_AREA_DISTANCE, FIELD_BUFFER);
+        return new Rectangle(FIELD_BUFFER + FIELD_HEIGHT / 2.0 + PENALTY_AREA_HEIGHT / 2.0, FIELD_BUFFER + PENALTY_AREA_WIDTH, FIELD_BUFFER + FIELD_HEIGHT / 2.0 - PENALTY_AREA_HEIGHT / 2.0, FIELD_BUFFER);
     }
     
     public static Rectangle PENALTY_AREA_RIGHT() {
-        return new Rectangle(FIELD().getCenter().getY() + (GOAL_HEIGHT / 2) + PENALTY_AREA_DISTANCE, FIELD().getRight(), FIELD().getCenter().getY() - GOAL_HEIGHT - PENALTY_AREA_DISTANCE, FIELD().getRight() - PENALTY_AREA_DISTANCE);
+        return new Rectangle(FIELD().getCenter().getY() + PENALTY_AREA_HEIGHT / 2.0, FIELD().getRight(), FIELD().getCenter().getY() - PENALTY_AREA_HEIGHT / 2.0, FIELD().getRight() - PENALTY_AREA_WIDTH);
     }
     
     // List of known game-state play modes
diff --git a/src/tests/futility/FlagTest.java b/src/tests/futility/FlagTest.java
index 108954b..4fe4820 100644
--- a/src/tests/futility/FlagTest.java
+++ b/src/tests/futility/FlagTest.java
@@ -7,6 +7,9 @@
 import org.junit.Before;
 import org.junit.Test;
 
+import futility.Flag;
+import futility.Goal;
+
 public class FlagTest {
 
 	@Before
@@ -19,6 +22,206 @@ public void tearDown() throws Exception {
 
 	@Test
 	public void testFlag() {
-		fail("Not implemented yet");
+		String[] flags = {
+				// Field perimeter flags
+				"(f t l 50)",
+				"(f t l 40)",
+				"(f t l 30)",
+				"(f t l 20)",
+				"(f t l 10)",
+				"(f t 0)",
+				"(f t r 10)",
+				"(f t r 20)",
+				"(f t r 30)",
+				"(f t r 40)",
+				"(f t r 50)",
+				"(f r t 30)",
+				"(f r t 20)",
+				"(f r t 10)",
+				"(f r 0)",
+				"(f r b 10)",
+				"(f r b 20)",
+				"(f r b 30)",
+				"(f b r 50)",
+				"(f b r 40)",
+				"(f b r 30)",
+				"(f b r 20)",
+				"(f b r 10)",
+				"(f b 0)",
+				"(f b l 10)",
+				"(f b l 20)",
+				"(f b l 30)",
+				"(f b l 40)",
+				"(f b l 50)",
+				"(f l b 30)",
+				"(f l b 20)",
+				"(f l b 10)",
+				"(f l 0)",
+				"(f l t 10)",
+				"(f l t 20)",
+				"(f l t 30)",
+
+				// Field corner flags
+				"(f l t)",
+				"(f r t)",
+				"(f r b)",
+				"(f l b)",
+
+				// Field center flags
+				"(f c t)",
+				"(f c)",
+				"(f c b)",
+
+				// Penalty area flags
+				"(f p l t)",
+				"(f p l c)",
+				"(f p l b)",
+				"(f p r t)",
+				"(f p r c)",
+				"(f p r b)",
+
+				// Goalpost flags
+				"(f g l t)",
+				"(f g l b)",
+				"(f g r t)",
+				"(f g r b)",
+		};
+
+		double[] xcoords = {
+				// Field perimeter flags
+				7.5,   //(f t l 50)
+				17.5,  //(f t l 40)
+				27.5,  //(f t l 30)
+				37.5,  //(f t l 20)
+				47.5,  //(f t l 10)
+				57.5,  //(f t 0)
+				67.5,  //(f t r 10)
+				77.5,  //(f t r 20)
+				87.5,  //(f t r 30)
+				97.5,  //(f t r 40)
+				107.5, //(f t r 50)
+				115,   //(f r t 30)
+				115,   //(f r t 20)
+				115,   //(f r t 10)
+				115,   //(f r 0)
+				115,   //(f r b 10)
+				115,   //(f r b 20)
+				115,   //(f r b 30)
+				107.5, //(f b r 50)
+				97.5,  //(f b r 40)
+				87.5,  //(f b r 30)
+				77.5,  //(f b r 20)
+				67.5,  //(f b r 10)
+				57.5,  //(f b 0)
+				47.5,  //(f b l 10)
+				37.5,  //(f b l 20)
+				27.5,  //(f b l 30)
+				17.5,  //(f b l 40)
+				7.5,   //(f b l 50)
+				0,     //(f l b 30)
+				0,     //(f l b 20)
+				0,     //(f l b 10)
+				0,     //(f l 0)
+				0,     //(f l t 10)
+				0,     //(f l t 20)
+				0,     //(f l t 30)
+
+				// Field corner flags
+				5,     //(f l t)
+				110,   //(f r t)
+				110,   //(f r b)
+				5,     //(f l b)
+
+				// Field center flags
+				57.5,  //(f c t)
+				57.5,  //(f c)
+				57.5,  //(f c b)
+
+				// Penalty area flags
+				21.5,  //(f p l t)
+				21.5,  //(f p l c)
+				21.5,  //(f p l b)
+				93.5,  //(f p r t)
+				93.5,  //(f p r c)
+				93.5,  //(f p r b)
+
+				// Goalpost flags
+				5,     //(f g l t)
+				5,     //(f g l b)
+				110,   //(f g r t)
+				110,   //(f g r b)
+		};
+
+		double[] ycoords = {
+				// Field perimeter flags
+				78,    //(f t l 50)
+				78,    //(f t l 40)
+				78,    //(f t l 30)
+				78,    //(f t l 20)
+				78,    //(f t l 10)
+				78,    //(f t 0)
+				78,    //(f t r 10)
+				78,    //(f t r 20)
+				78,    //(f t r 30)
+				78,    //(f t r 40)
+				78,    //(f t r 50)
+				69,    //(f r t 30)
+				59,    //(f r t 20)
+				49,    //(f r t 10)
+				39,    //(f r 0)
+				29,    //(f r b 10)
+				19,    //(f r b 20)
+				9,     //(f r b 30)
+				0,     //(f b r 50)
+				0,     //(f b r 40)
+				0,     //(f b r 30)
+				0,     //(f b r 20)
+				0,     //(f b r 10)
+				0,     //(f b 0)
+				0,     //(f b l 10)
+				0,     //(f b l 20)
+				0,     //(f b l 30)
+				0,     //(f b l 40)
+				0,     //(f b l 50)
+				9,     //(f l b 30)
+				19,    //(f l b 20)
+				29,    //(f l b 10)
+				39,    //(f l 0)
+				49,    //(f l t 10)
+				59,    //(f l t 20)
+				69,    //(f l t 30)
+
+				// Field corner flags
+				73,    //(f l t)
+				73,    //(f r t)
+				5,     //(f r b)
+				5,     //(f l b)
+
+				// Field center flags
+				73,    //(f c t)
+				39,    //(f c)
+				5,     //(f c b)
+
+				// Penalty area flags
+				59.15, //(f p l t)
+				39,    //(f p l c)
+				18.85, //(f p l b)
+				59.15, //(f p r t)
+				39,    //(f p r c)
+				18.85, //(f p r b)
+
+				// Goalpost flags
+				46.01, //(f g l t)
+				31.99, //(f g l b)
+				46.01, //(f g r t)
+				31.99, //(f g r b)
+		};
+
+		for (int i = 0; i < flags.length; i++) {
+			Flag newFlag = new Flag(flags[i]);
+			System.out.println("Attempting flag id: " + flags[i]);
+			assertEquals(xcoords[i], newFlag.position.getX(), 0.001);
+			assertEquals(ycoords[i], newFlag.position.getY(), 0.001);
+		}
 	}
-}
+}
\ No newline at end of file