 #include <Common.h>
 #include <IO.h>
+
+#include <SPI.h>
+#include <SD.h>
 
 /*  
 Elcano Module C4: Path Planner.

        break;
  }
}
/*---------------------------------------------------------------------------------------*/ 
void initialize()
{

     BestID = -1;
//     Serial.println(BestCost);
     // pop lowest cost node from Open; i.e. find index of lowest cost item
     for (i = 0; i < map_points; i++)
     {
//       Serial.print(i); Serial.print(", "); Serial.print(Open[i].TotalCost); 
//       Serial.print(", "); Serial.println(ClosedCost[i]);
