diff --git a/src/main/java/frc/robot/positioning/AStar.java b/src/main/java/frc/robot/positioning/AStar.java
deleted file mode 100644
index 47cdaf5..0000000
--- a/src/main/java/frc/robot/positioning/AStar.java
+++ /dev/null
@@ -1,377 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.positioning;
-
-import frc.robot.Constants;
-import java.util.ArrayList;
-import java.util.Comparator;
-import java.util.PriorityQueue;
-import java.util.concurrent.atomic.AtomicReference;
-
-/**
- * @param cell - the map of nodes
- * @param pathList - likely the path
- * @param closedList - nodes that no longer need to be aknowledged by the pathfinder
- * @param grid - the map of obstacles
- * @param startY - the y of the start coord
- * @param startX - the x of the start coord
- * @param endY - the y of the end coord
- * @param endX - the x of the end coord
- */
-public class AStar {
-  private static Node[][] cell;
-  private final ArrayList<Node> pathList = new ArrayList<>();
-  private final ArrayList<Node> closedList = new ArrayList<>();
-  private static final boolean[][] grid =
-      new boolean[Constants.AStar.FIELD_X * 2][Constants.AStar.FIELD_Y * 2];
-  private final AtomicReference<Path> currPath = new AtomicReference<Path>(new Path());
-  private Thread genThread;
-  public int startY;
-  public int startX;
-  public int endY;
-  public int endX;
-
-  static {
-    // creates the boolean obstacle matrix
-    // TODO: THIS IS (I BELIEVE) WHERE WE INPUT THE OBSTACLES, SO, YA KNOW, **IMPORTANT**
-    // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-    for (int i = 0; i < Constants.AStar.FIELD_X * 2; i++) {
-      for (int j = 0; j < Constants.AStar.FIELD_Y * 2; j++) {
-        // HERE
-        // Creating a new Node object for each and every Cell of the Grid (Matrix)
-        cell[i][j] = new Node(i, j);
-      }
-    }
-  }
-
-  /** Creates a new pathfinding situation. Input should be in centimeters. */
-  public AStar(int startX, int startY, int endX, int endY) {
-    this.startX = startX;
-    this.startY = startY;
-    this.endX = endX;
-    this.endY = endY;
-  }
-
-  public AtomicReference<Path> generateAStarPath() {
-    currPath.set(new Path());
-    if (!genThread.isAlive()) {
-      this.genThread =
-          new Thread(
-              () -> {
-                int gCost = 0;
-                /*int fCost = 0;*/
-
-                // Creation of a Node type 2D array
-                cell = new Node[Constants.AStar.FIELD_X][Constants.AStar.FIELD_Y];
-
-                // Loop to find all 3 pathways and their relative Final Cost values
-
-                generateHValue(
-                    grid,
-                    startY,
-                    startX,
-                    endY,
-                    endX,
-                    Constants.AStar.FIELD_X * 2,
-                    Constants.AStar.FIELD_Y * 2,
-                    10,
-                    14);
-
-                if (cell[startY][startX].hValue != -1 && pathList.contains(cell[endY][endX])) {
-
-                  for (int i = 0; i < pathList.size() - 1; i++) {
-                    /* System.out.println(pathList.get(i).x + " " + pathList.get(i).y);*/
-                    /*StdDraw.circle(pathList.get(i).y, n - pathList.get(i).x - 1, .4);*/
-                    gCost += pathList.get(i).gValue;
-                    /*fCost += pathList.get(i).fValue;*/
-                  }
-
-                  System.out.println("Euclidean Path Found");
-                  System.out.println("Total Cost: " + gCost / 10.0);
-                  /*System.out.println("Total fCost: " + fCost);*/
-                  gCost = 0;
-                  /*fCost = 0;*/
-
-                } else {
-                  System.out.println("Euclidean Path Not found");
-                }
-
-                ArrayList<Double[]> pathListInMeters = new ArrayList<Double[]>();
-                for (Node node : pathList) {
-                  Double[] tempNode = {(double) node.getX() / 100, (double) node.getY() / 100};
-                  pathListInMeters.add(tempNode);
-                }
-
-                currPath.set(new Path(pathListInMeters));
-              });
-    }
-    genThread.start();
-
-    return currPath;
-  }
-
-  /**
-   * @param matrix The boolean matrix that the framework generates
-   * @param startY Starting point's x value
-   * @param startX Starting point's y value
-   * @param endY Ending point's x value
-   * @param endX Ending point's y value
-   * @param width Width of the field
-   * @param length Length of the field
-   * @param v Cost between 2 cells located horizontally or vertically next to each other
-   * @param d Cost between 2 cells located Diagonally next to each other
-   */
-  private ArrayList<Node> generateHValue(
-          boolean[][] matrix,
-          int startY,
-          int startX,
-          int endY,
-          int endX,
-          int width,
-          int length,
-          int v,
-          int d) {
-
-    for (int i = 0; i < matrix.length; i++) {
-      for (int j = 0; j < matrix.length; j++) {
-
-        // Checks whether a cell is Blocked or Not by checking the boolean value
-        if (matrix[i][j]) {
-          // Assigning the Euclidean Heuristic value
-          // TODO: IF THE THING IS RUNNING SLOW, REMOVE THE Math.sqrt() TO MAYBE IMPROVE PROCESSING
-          // PROWER
-          cell[i][j].hValue = (int) Math.sqrt(Math.pow(i - endY, 2) + Math.pow(j - endX, 2));
-        }
-      }
-    }
-    return generatePath(
-        cell, startY, startX, endY, endX, Constants.AStar.FIELD_X, Constants.AStar.FIELD_Y, v, d);
-  }
-
-  /**
-   * @param hValue Node type 2D Array (Matrix)
-   * @param startY Starting point's y value
-   * @param startX Starting point's x value
-   * @param endY Ending point's y value
-   * @param endX Ending point's x value
-   * @param width Width of the field
-   * @param length Length of the field
-   * @param v Cost between 2 cells located horizontally or vertically next to each other
-   * @param d Cost between 2 cells located Diagonally next to each other
-   * @param additionalPath Boolean to decide whether to calculate the cost of through the diagonal
-   *     path
-   */
-  private ArrayList<Node> generatePath(
-          Node[][] hValue, int startY, int startX, int endY, int endX, int x, int y, int v, int d) {
-
-    // Creation of a PriorityQueue and the declaration of the Comparator
-    PriorityQueue<Node> openList =
-        new PriorityQueue<Node>(
-            11,
-            new Comparator<Node>() {
-              @Override
-              // Compares 2 Node objects stored in the PriorityQueue and Reorders the Queue
-              // according to the object which has the lowest fValue
-              public int compare(Node cell1, Node cell2) {
-                return cell1.fValue < cell2.fValue ? -1 : cell1.fValue > cell2.fValue ? 1 : 0;
-              }
-            });
-
-    // Adds the Starting cell inside the openList
-    openList.add(cell[startY][startX]);
-
-    // Executes the rest if there are objects left inside the PriorityQueue
-    while (true) {
-
-      // Gets and removes the objects that's stored on the top of the openList and saves it inside
-      // node
-      Node node = openList.poll();
-
-      // Checks if whether node is empty and f it is then breaks the while loop
-      if (node == null) {
-        break;
-      }
-
-      // Checks if whether the node returned is having the same node object values of the ending
-      // point
-      // If it des then stores that inside the closedList and breaks the while loop
-      if (node == cell[endY][endX]) {
-        closedList.add(node);
-        break;
-      }
-
-      closedList.add(node);
-
-      // Left Cell
-      try {
-        if (cell[node.getX()][node.getY() - 1].hValue != -1
-            && !openList.contains(cell[node.getX()][node.getY() - 1])
-            && !closedList.contains(cell[node.getX()][node.getY() - 1])) {
-          int tCost = node.fValue + v;
-          cell[node.getX()][node.getY() - 1].gValue = v;
-          int cost = cell[node.getX()][node.getY() - 1].hValue + tCost;
-          if (cell[node.getX()][node.getY() - 1].fValue > cost
-              || !openList.contains(cell[node.getX()][node.getY() - 1]))
-            cell[node.getX()][node.getY() - 1].fValue = cost;
-
-          openList.add(cell[node.getX()][node.getY() - 1]);
-          cell[node.getX()][node.getY() - 1].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-
-      // Right Cell
-      try {
-        if (cell[node.getX()][node.getY() + 1].hValue != -1
-            && !openList.contains(cell[node.getX()][node.getY() + 1])
-            && !closedList.contains(cell[node.getX()][node.getY() + 1])) {
-          int tCost = node.fValue + v;
-          cell[node.getX()][node.getY() + 1].gValue = v;
-          int cost = cell[node.getX()][node.getY() + 1].hValue + tCost;
-          if (cell[node.getX()][node.getY() + 1].fValue > cost
-              || !openList.contains(cell[node.getX()][node.getY() + 1]))
-            cell[node.getX()][node.getY() + 1].fValue = cost;
-
-          openList.add(cell[node.getX()][node.getY() + 1]);
-          cell[node.getX()][node.getY() + 1].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-
-      // Bottom Cell
-      try {
-        if (cell[node.getX() + 1][node.getY()].hValue != -1
-            && !openList.contains(cell[node.getX() + 1][node.getY()])
-            && !closedList.contains(cell[node.getX() + 1][node.getY()])) {
-          int tCost = node.fValue + v;
-          cell[node.getX() + 1][node.getY()].gValue = v;
-          int cost = cell[node.getX() + 1][node.getY()].hValue + tCost;
-          if (cell[node.getX() + 1][node.getY()].fValue > cost
-              || !openList.contains(cell[node.getX() + 1][node.getY()]))
-            cell[node.getX() + 1][node.getY()].fValue = cost;
-
-          openList.add(cell[node.getX() + 1][node.getY()]);
-          cell[node.getX() + 1][node.getY()].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-
-      // Top Cell
-      try {
-        if (cell[node.getX() - 1][node.getY()].hValue != -1
-            && !openList.contains(cell[node.getX() - 1][node.getY()])
-            && !closedList.contains(cell[node.getX() - 1][node.getY()])) {
-          int tCost = node.fValue + v;
-          cell[node.getX() - 1][node.getY()].gValue = v;
-          int cost = cell[node.getX() - 1][node.getY()].hValue + tCost;
-          if (cell[node.getX() - 1][node.getY()].fValue > cost
-              || !openList.contains(cell[node.getX() - 1][node.getY()]))
-            cell[node.getX() - 1][node.getY()].fValue = cost;
-
-          openList.add(cell[node.getX() - 1][node.getY()]);
-          cell[node.getX() - 1][node.getY()].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-
-      // TopLeft Cell
-      try {
-        if (cell[node.getX() - 1][node.getY() - 1].hValue != -1
-            && !openList.contains(cell[node.getX() - 1][node.getY() - 1])
-            && !closedList.contains(cell[node.getX() - 1][node.getY() - 1])) {
-          int tCost = node.fValue + d;
-          cell[node.getX() - 1][node.getY() - 1].gValue = d;
-          int cost = cell[node.getX() - 1][node.getY() - 1].hValue + tCost;
-          if (cell[node.getX() - 1][node.getY() - 1].fValue > cost
-              || !openList.contains(cell[node.getX() - 1][node.getY() - 1]))
-            cell[node.getX() - 1][node.getY() - 1].fValue = cost;
-
-          openList.add(cell[node.getX() - 1][node.getY() - 1]);
-          cell[node.getX() - 1][node.getY() - 1].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-
-      // TopRight Cell
-      try {
-        if (cell[node.getX() - 1][node.getY() + 1].hValue != -1
-            && !openList.contains(cell[node.getX() - 1][node.getY() + 1])
-            && !closedList.contains(cell[node.getX() - 1][node.getY() + 1])) {
-          int tCost = node.fValue + d;
-          cell[node.getX() - 1][node.getY() + 1].gValue = d;
-          int cost = cell[node.getX() - 1][node.getY() + 1].hValue + tCost;
-          if (cell[node.getX() - 1][node.getY() + 1].fValue > cost
-              || !openList.contains(cell[node.getX() - 1][node.getY() + 1]))
-            cell[node.getX() - 1][node.getY() + 1].fValue = cost;
-
-          openList.add(cell[node.getX() - 1][node.getY() + 1]);
-          cell[node.getX() - 1][node.getY() + 1].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-
-      // BottomLeft Cell
-      try {
-        if (cell[node.getX() + 1][node.getY() - 1].hValue != -1
-            && !openList.contains(cell[node.getX() + 1][node.getY() - 1])
-            && !closedList.contains(cell[node.getX() + 1][node.getY() - 1])) {
-          int tCost = node.fValue + d;
-          cell[node.getX() + 1][node.getY() - 1].gValue = d;
-          int cost = cell[node.getX() + 1][node.getY() - 1].hValue + tCost;
-          if (cell[node.getX() + 1][node.getY() - 1].fValue > cost
-              || !openList.contains(cell[node.getX() + 1][node.getY() - 1]))
-            cell[node.getX() + 1][node.getY() - 1].fValue = cost;
-
-          openList.add(cell[node.getX() + 1][node.getY() - 1]);
-          cell[node.getX() + 1][node.getY() - 1].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-
-      // BottomRight Cell
-      try {
-        if (cell[node.getX() + 1][node.getY() + 1].hValue != -1
-            && !openList.contains(cell[node.getX() + 1][node.getY() + 1])
-            && !closedList.contains(cell[node.getX() + 1][node.getY() + 1])) {
-          int tCost = node.fValue + d;
-          cell[node.getX() + 1][node.getY() + 1].gValue = d;
-          int cost = cell[node.getX() + 1][node.getY() + 1].hValue + tCost;
-          if (cell[node.getX() + 1][node.getY() + 1].fValue > cost
-              || !openList.contains(cell[node.getX() + 1][node.getY() + 1]))
-            cell[node.getX() + 1][node.getY() + 1].fValue = cost;
-
-          openList.add(cell[node.getX() + 1][node.getY() + 1]);
-          cell[node.getX() + 1][node.getY() + 1].setParent(node);
-        }
-      } catch (IndexOutOfBoundsException e) {
-      }
-    }
-
-    /*for (int i = 0; i < n; ++i) {
-        for (int j = 0; j < n; ++j) {
-            System.out.print(cell[i][j].fValue + "    ");
-        }
-        System.out.println();
-    }*/
-
-    // Assigns the last Object in the closedList to the endNode variable
-    Node endNode = closedList.get(closedList.size() - 1);
-
-    // Checks if whether the endNode variable currently has a parent Node. if it doesn't then stops
-    // moving forward.
-    // Stores each parent Node to the PathList so it is easier to trace back the final path
-    while (endNode.getParent() != null) {
-      Node currentNode = endNode;
-      pathList.add(currentNode);
-      endNode = endNode.getParent();
-    }
-
-    pathList.add(cell[startY][startX]);
-    // Clears the openList
-    openList.clear();
-
-    return pathList;
-  }
-}