diff --git a/Game1/Game1.csproj b/Game1/Game1.csproj
index 01d540c..a21636c 100644
--- a/Game1/Game1.csproj
+++ b/Game1/Game1.csproj
@@ -17,6 +17,21 @@
     <TargetFrameworkProfile />
     <NuGetPackageImportStamp>
     </NuGetPackageImportStamp>
+    <PublishUrl>publish\</PublishUrl>
+    <Install>true</Install>
+    <InstallFrom>Disk</InstallFrom>
+    <UpdateEnabled>false</UpdateEnabled>
+    <UpdateMode>Foreground</UpdateMode>
+    <UpdateInterval>7</UpdateInterval>
+    <UpdateIntervalUnits>Days</UpdateIntervalUnits>
+    <UpdatePeriodically>false</UpdatePeriodically>
+    <UpdateRequired>false</UpdateRequired>
+    <MapFileExtensions>true</MapFileExtensions>
+    <ApplicationRevision>0</ApplicationRevision>
+    <ApplicationVersion>1.0.0.%2a</ApplicationVersion>
+    <IsWebBootstrapper>false</IsWebBootstrapper>
+    <UseApplicationTrust>false</UseApplicationTrust>
+    <BootstrapperEnabled>true</BootstrapperEnabled>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
     <PlatformTarget>x64</PlatformTarget>
@@ -63,6 +78,9 @@
     <CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
     <Prefer32Bit>true</Prefer32Bit>
   </PropertyGroup>
+  <PropertyGroup>
+    <AutoGenerateBindingRedirects>false</AutoGenerateBindingRedirects>
+  </PropertyGroup>
   <ItemGroup>
     <Compile Include="Game1.cs" />
     <Compile Include="Program.cs" />
@@ -96,6 +114,8 @@
     <Compile Include="Sources\Pathing\A-Star\PathSaver\Path.cs" />
     <Compile Include="Sources\Pathing\A-Star\PathSaver\PriorityQueue.cs" />
     <Compile Include="Sources\Controlls\Controller.cs" />
+    <Compile Include="Sources\Pathing\PQEntry.cs" />
+    <Compile Include="Sources\Pathing\PriorityQueueC5.cs" />
     <Compile Include="Sources\Smart\AI.cs" />
     <Compile Include="Sources\Smart\ScoreSystem.cs" />
     <Compile Include="Sources\Smart\SmartTractor.cs" />
@@ -175,6 +195,9 @@
     </PackageReference>
   </ItemGroup>
   <ItemGroup>
+    <PackageReference Include="C5">
+      <Version>2.5.3</Version>
+    </PackageReference>
     <PackageReference Include="LightGBM">
       <Version>2.3.1</Version>
     </PackageReference>
@@ -212,6 +235,18 @@
       <Version>4.11.0</Version>
     </PackageReference>
   </ItemGroup>
+  <ItemGroup>
+    <BootstrapperPackage Include=".NETFramework,Version=v4.6.1">
+      <Visible>False</Visible>
+      <ProductName>Microsoft .NET Framework 4.6.1 %28x86 and x64%29</ProductName>
+      <Install>true</Install>
+    </BootstrapperPackage>
+    <BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1">
+      <Visible>False</Visible>
+      <ProductName>.NET Framework 3.5 SP1</ProductName>
+      <Install>false</Install>
+    </BootstrapperPackage>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Import Project="$(MSBuildExtensionsPath)\MonoGame\v3.0\MonoGame.Content.Builder.targets" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
diff --git a/Game1/Sources/Pathing/A-Star/Astar.cs b/Game1/Sources/Pathing/A-Star/Astar.cs
index 925fd6a..26b1894 100644
--- a/Game1/Sources/Pathing/A-Star/Astar.cs
+++ b/Game1/Sources/Pathing/A-Star/Astar.cs
@@ -11,29 +11,38 @@ class Astar
 
     private Vector2 tractorPos;
     private Vector2 housePos;
-    private Crops[,] crops;
+    private static Crops[,] crops;
     private Vector2 Size;
     private PriorityQueue allPaths;
     private Vector2 targetPos;
     private int Rotation;
 
-    public void update(Crops[,] newCrops, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos, Vector2 newtargetPos, int rotation)
+    public void update(Crops[,] newCrops, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos, int rotation)
     {
         tractorPos = new Vector2((int)newTractorPos.X, (int)newTractorPos.Y);
         housePos = new Vector2((int)newHousePos.X, (int)newHousePos.Y);
-        targetPos = newtargetPos;
         crops = newCrops;
         Size = newSize;
         Rotation = rotation;
     }
 
+    public void update(Crops[,] newCrops, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos, Vector2 newTargetPos, int rotation)
+    {
+        tractorPos = new Vector2((int)newTractorPos.X, (int)newTractorPos.Y);
+        housePos = new Vector2((int)newHousePos.X, (int)newHousePos.Y);
+        crops = newCrops;
+        Size = newSize;
+        Rotation = rotation;
+        targetPos = newTargetPos;
+    }
+
     public Nodes getOptimalPath()
     {
         return allPaths.Peek();
     }
 
     // Get all adjacent nodes
-    private List<Nodes> GetAdjacentNodes(Vector2 currentPos)
+    public List<Nodes> GetAdjacentNodes(Vector2 currentPos)
     {
         var adjacentNodes = new List<Nodes>()
 
@@ -93,7 +102,7 @@ class Astar
     }
 
     // Main function of A* algorithm
-    public Path FindPath()
+    public Path FindPath(bool flipArray)
     {
         int g = 0;
         int direction = ConvertRotation();
@@ -150,7 +159,9 @@ class Astar
             path.AddNode(current);
             current = current.getParent();
         }
-        path = path.FlipArray();
+
+        if (flipArray)
+            path = path.FlipArray();
 
         openList.deleteHeap();
         closedList.deleteHeap();
diff --git a/Game1/Sources/Pathing/PQEntry.cs b/Game1/Sources/Pathing/PQEntry.cs
new file mode 100644
index 0000000..39aee21
--- /dev/null
+++ b/Game1/Sources/Pathing/PQEntry.cs
@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Microsoft.Xna.Framework;
+
+
+public class PQEntry : IComparable<PQEntry>
+{
+    public int Key { get; set; }
+    public Vector2 Coordinates { get; set;  }
+
+    public int CompareTo(PQEntry other)
+    {
+        if (this.Key < other.Key)
+            return -1;
+        else if (this.Key > other.Key)
+            return 1;
+        else
+            return 0;
+    }
+
+}
+
+
diff --git a/Game1/Sources/Pathing/PriorityQueueC5.cs b/Game1/Sources/Pathing/PriorityQueueC5.cs
new file mode 100644
index 0000000..c318a73
--- /dev/null
+++ b/Game1/Sources/Pathing/PriorityQueueC5.cs
@@ -0,0 +1,49 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Microsoft.Xna.Framework;
+using C5;
+
+
+class PriorityQueueC5
+{
+
+    private readonly Astar astar = new Astar();
+    private IPriorityQueue<PQEntry> queue = new IntervalHeap<PQEntry>();
+
+    public void AddToQueue(List<PQEntry> nodes)
+    {
+        foreach (PQEntry item in nodes)
+        {
+            PQEntry temp = new PQEntry
+            {
+                Key = item.Key,
+                Coordinates = item.Coordinates
+            };
+            queue.Add(temp);
+        }
+    }
+
+    public void AddToQueue(int x, int y, int score)
+    {
+        PQEntry temp = new PQEntry
+        {
+            Key = score,
+            Coordinates = new Vector2(x, y)
+        };
+        queue.Add(temp);
+    }
+
+    public PQEntry DeleteMax()
+    {
+        return queue.DeleteMax();
+    }
+
+    public void AddAll(List<PQEntry> entryList)
+    {
+        queue.AddAll(entryList);
+    }
+
+}
\ No newline at end of file
diff --git a/Game1/Sources/Smart/AI.cs b/Game1/Sources/Smart/AI.cs
index 34f7d0d..19a58bf 100644
--- a/Game1/Sources/Smart/AI.cs
+++ b/Game1/Sources/Smart/AI.cs
@@ -9,7 +9,6 @@ using Microsoft.Xna.Framework.Graphics;
 
 class AI
 {
-
     private Vector2 tractorPos;
     private Vector2 housePos;
     private Farm farm;
@@ -17,9 +16,8 @@ class AI
     private Vector2 targetPos;
     private Inventory inventory = new Inventory();
     private int Rotation;
-
-
-
+    private PriorityQueueC5 PriorityQueueC5;
+    private Astar astar = new Astar();
 
     private Random r = new Random();
 
@@ -27,20 +25,9 @@ class AI
     public void init()
     {
         inventory.initInventorySystem();
-        inventory.addItem(1, 1);
-        inventory.addItem(1, 1);
-        inventory.addItem(3, 1);
-        inventory.addItem(5, 1);
-        inventory.addItem(7, 1);
-        inventory.addItem(7, 1);
-        inventory.addItem(10, 1);
-        inventory.addItem(10, 1);       
-        inventory.useItem(10, 1);
     }
 
 
-
-
     public void update(Farm newFarm, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos, Vector2 newtargetPos, int rotation)
     {
         tractorPos = new Vector2((int)newTractorPos.X, (int)newTractorPos.Y);
@@ -49,6 +36,7 @@ class AI
         farm = newFarm;
         Size = newSize;
         Rotation = rotation;
+        astar.update(farm.getCrops(), Size, tractorPos, housePos, rotation);
     }
 
 
@@ -60,7 +48,52 @@ class AI
 
     public Vector2 newTarget()
     {
-        return new Vector2(r.Next(0, (int)Size.X), r.Next(0, (int)Size.Y));
+        PriorityQueueC5 queue = new PriorityQueueC5();
+        int score = 0;
+        int count = 0;
+        int testsize = 2;
+        Vector2 newTarget;
+        while (true)
+        {
+            for (int x = 0; x < Size.X; x++)
+                for (int y = 0; y < Size.Y; y++)
+                {
+                    if (farm.getCrop(x, y).getStatus() >= 2 && tractorPos != new Vector2(x, y))
+                    {
+                        if (farm.getCrop(x, y).getStatus() == 3 && farm.getCrop(x, y).getCropTimer() != 1)
+                        {
+                            if (housePos == tractorPos)
+                            {
+                                score = calculateSoilScore(x, y);
+                                queue.AddToQueue(x, y, score);
+                                count++;
+                            }
+                            //do nothing
+                        }
+                        else
+                        {
+                            score = calculateSoilScore(x, y);
+                            queue.AddToQueue(x, y, score);
+                            count++;
+                        }
+                    }
+                }
+            if (count > 0)
+                break;
+            else if (tractorPos != housePos)
+                return housePos;
+
+            /*
+            else if (tractorPos == housePos)
+            {
+                List<Nodes> temp = astar.GetAdjacentNodes(tractorPos);
+                return temp[0].getCords();
+            }
+            */
+        }
+
+        newTarget = GetMinFNode(Math.Min(testsize, count), queue);
+        return newTarget;
     }
 
     public Farm changeCropStatus()
@@ -68,6 +101,11 @@ class AI
         if (farm.getCrop((int)tractorPos.X, (int)tractorPos.Y).getCropTimer() == 1)
         {
             farm.setCropStatus(tractorPos.X, tractorPos.Y);
+            if (farm.getCrop((int)tractorPos.X, (int)tractorPos.Y).getStatus() == 2)
+            {
+                inventory.addItem(farm.getCrop((int)tractorPos.X, (int)tractorPos.Y).getCropType() - 1, 1);
+            }
+            
         }
         return farm;
     }
@@ -76,4 +114,89 @@ class AI
     {
         return inventory;
     }
+
+    private int calculateSoilScore(int x, int y)
+    {
+        int score = 0;
+        int statusScore = 0;
+        int aproxDistance = (int)(Math.Abs(x - tractorPos.X) + Math.Abs(y - tractorPos.Y));
+        CropTypesHolder holder = new CropTypesHolder();
+        holder.init();
+
+        Crops crop = farm.getCrop(x, y);
+        SoilProperties soilP = crop.getSoilProperties();
+        int cropType = crop.getCropType();
+        CropTypes avgHold = holder.getPresetCropTypes(cropType);
+
+        if (crop.getStatus() == 2)
+            statusScore = 25;
+        else if (crop.getStatus() == 3)
+            statusScore = 5;
+        else if (crop.getStatus() == 4)
+            statusScore = -10;
+        else
+            statusScore = 1;
+
+        float[] currentValue = { soilP.Temperature, soilP.Humidity, soilP.Moisture, soilP.Nitrogen, soilP.Potassium, soilP.Phosphorous };
+        float[] targetAvg = { avgHold.Temparature, avgHold.Humidity, avgHold.Moisture, avgHold.Nitrogen, avgHold.Potassium, avgHold.Phosphorous };
+        float[,] minMax = { {22,30}, {22*1.9f, 30*2.1f}, {20, 70}, {4, 55}, {0, 28}, {0, 60} };         //probably should make it dynamic
+        float[] normVal = normArray(minMax, currentValue);
+        float[] normAvg = normArray(minMax, targetAvg);
+
+        for (int i = 0; i < normVal.Count(); i++)
+        {
+            score = score + (int)Math.Round(System.Convert.ToDouble(10*(1 - Math.Abs(normAvg[i] - normVal[i]))));
+        }
+
+        return score + (-aproxDistance * 3) + statusScore;
+    }
+
+    private float[] normArray(float[,] minMax, float[] values)
+    {
+        float[] temp = new float[values.Count()];
+        if (minMax.GetLength(0) != values.Count())
+            throw new InvalidOperationException("Values and their MinMax arrays are not of the same length!");
+
+        for (int i = 0; i < values.Count(); i++)
+            temp[i] = norm(minMax[i, 0], minMax[i, 1], values[i]);
+
+        return temp;
+    }
+
+    private float norm(float min, float max, float val)
+    {
+        return ((val - min) / (max - min));
+    }
+
+    public Vector2 GetMinFNode(int testSize, PriorityQueueC5 queue)
+    {
+        int index = 0;
+        int min = 999;
+        Path path = new Path();
+        List<PQEntry> entryList = new List<PQEntry>();
+        for (int i = 0; i < testSize; i++)
+        {
+            entryList.Add(queue.DeleteMax());
+        }
+
+        for (int i = 0; i < testSize; i++)
+        {
+            Nodes temp = new Nodes(entryList[i].Coordinates);
+            path = astar.FindPath(false);
+            Nodes tempF = new Nodes(path.getByIndex(0));
+            if (min > tempF.getF())
+            {
+                min = tempF.getF();
+                index = i;
+            }
+        }
+        PQEntry minEntry = entryList[index];
+        entryList.RemoveAt(index);
+
+        //add the non-minimum entries back to the queue.
+        queue.AddAll(entryList);
+
+        return minEntry.Coordinates;
+    }
+
 }
diff --git a/Game1/Sources/Smart/SmartTractor.cs b/Game1/Sources/Smart/SmartTractor.cs
index 4a909d7..29fdf50 100644
--- a/Game1/Sources/Smart/SmartTractor.cs
+++ b/Game1/Sources/Smart/SmartTractor.cs
@@ -19,9 +19,11 @@ class SmartTractor
         ai.update(farm, Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing), Target / (tileSize + Spacing), Rotation);
         farm.UpdatePreferedCrops(Size);
         farm = ai.changeCropStatus();
+        astar.update(farm.getCrops(), Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing), Rotation);
         getTargetPosition(ai.newTarget());
-        astar.update(farm.getCrops(), Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing), Target/(tileSize+Spacing), Rotation);
-        return astar.FindPath();
+        astar.update(farm.getCrops(), Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing), Target / (tileSize + Spacing), Rotation);
+
+        return astar.FindPath(true);
     }