Include this lib in your code. functions are explained inside the code. to test if it works, run it and if done right, gives output: P1 added: 3 Length: 200 Cost: 200 P1 added: 2 Length: 200 Cost: 400 P1 Ignored 4 Written: {"1":["[0 0 0]",[2],600],"2":["[0 200 0]",[1,3],400,1],"3":["[200 200 0]",[2,4],200,1],"4":["[200 0 0]",[3],0,1],"Path":[],"Buffer":[1],"Holos":[]} P1 reached end node P1 Ignored 3 Sorted: [[400,2]] P2 2 Sorted: [[200,3]] P2 3 Sorted: [[0,4],[400,2]] P2 4 [1,2,3,4] Path = [1,2,3,4] the settings table ontop is for debugging purposes and will turnoff the printing and visualisation of paThor. please do not claim as your own. StarfallEx is required. https://github.com/thegrb93/StarfallEx