  //     Serial.println(k);
    }
    Path[last] = start;
-   for ( ; k < MAP_POINTS; k++)
+   for ( ; k < map_points; k++)
    {
      node = route[k];
      Path[++last].east_mm = Nodes[node].east_mm;

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

  long BestCost, BestID;
  bool Processed = false;
  
  for (i = 0; i < map_points; i++)
  { // mark all nodes as empty
    Open[i].TotalCost = MAX_DISTANCE;
    ClosedCost[i] = MAX_DISTANCE;
