diff --git a/src/algorithms/Exploration.class b/src/algorithms/Exploration.class
index 1adeb24..e006a72 100644
Binary files a/src/algorithms/Exploration.class and b/src/algorithms/Exploration.class differ
diff --git a/src/algorithms/Exploration.java b/src/algorithms/Exploration.java
index dfb052f..21efe99 100644
--- a/src/algorithms/Exploration.java
+++ b/src/algorithms/Exploration.java
@@ -31,7 +31,7 @@ public Exploration(int timeLimit, int coverageLimit, Robot robot, Map map, boole
         this.map = map;
         this.limited = limited;
         this.firstMove = false;
-        this.updateAndroid = true;
+        this.updateAndroid = false;
     }
 
     public void run() {
diff --git a/src/robot/Constant.class b/src/robot/Constant.class
index b7f3eb7..8f9d41b 100644
Binary files a/src/robot/Constant.class and b/src/robot/Constant.class differ
diff --git a/src/robot/Constant.java b/src/robot/Constant.java
index 9e4f586..62db4f0 100644
--- a/src/robot/Constant.java
+++ b/src/robot/Constant.java
@@ -10,7 +10,7 @@ public class Constant {
     // range of long range sensor (tiles)
     public static final int SENSOR_LONG_RANGE_MAX = 5;
 
-    public static final int SPEED = 1;
+    public static final int SPEED = 10;
     public static final DIRECTION START_DIR = DIRECTION.NORTH;
 
     public static final int GOAL_ROW = 18;
diff --git a/src/robot/Robot.class b/src/robot/Robot.class
index 45e8775..d5dc8a5 100644
Binary files a/src/robot/Robot.class and b/src/robot/Robot.class differ
diff --git a/src/simulator/Simulator$1.class b/src/simulator/Simulator$1.class
index 3e49542..b90dd65 100644
Binary files a/src/simulator/Simulator$1.class and b/src/simulator/Simulator$1.class differ
diff --git a/src/simulator/Simulator$1MTFastestPath.class b/src/simulator/Simulator$1MTFastestPath.class
index 8bd0d3e..b8414c9 100644
Binary files a/src/simulator/Simulator$1MTFastestPath.class and b/src/simulator/Simulator$1MTFastestPath.class differ
diff --git a/src/simulator/Simulator$1MTRealRun.class b/src/simulator/Simulator$1MTRealRun.class
index dbb0d8b..0a2c524 100644
Binary files a/src/simulator/Simulator$1MTRealRun.class and b/src/simulator/Simulator$1MTRealRun.class differ
diff --git a/src/simulator/Simulator$2.class b/src/simulator/Simulator$2.class
index 06beb9e..0a29bbc 100644
Binary files a/src/simulator/Simulator$2.class and b/src/simulator/Simulator$2.class differ
diff --git a/src/simulator/Simulator$3.class b/src/simulator/Simulator$3.class
index a9d5222..8a87fd3 100644
Binary files a/src/simulator/Simulator$3.class and b/src/simulator/Simulator$3.class differ
diff --git a/src/simulator/Simulator$4$1.class b/src/simulator/Simulator$4$1.class
index f3acc6a..ba1f455 100644
Binary files a/src/simulator/Simulator$4$1.class and b/src/simulator/Simulator$4$1.class differ
diff --git a/src/simulator/Simulator$4.class b/src/simulator/Simulator$4.class
index a47cf03..450fb7c 100644
Binary files a/src/simulator/Simulator$4.class and b/src/simulator/Simulator$4.class differ
diff --git a/src/simulator/Simulator$5$1.class b/src/simulator/Simulator$5$1.class
index d0b0782..8dad433 100644
Binary files a/src/simulator/Simulator$5$1.class and b/src/simulator/Simulator$5$1.class differ
diff --git a/src/simulator/Simulator$5.class b/src/simulator/Simulator$5.class
index 224b390..d72dab6 100644
Binary files a/src/simulator/Simulator$5.class and b/src/simulator/Simulator$5.class differ
diff --git a/src/simulator/Simulator$6.class b/src/simulator/Simulator$6.class
index 02baf2c..880248b 100644
Binary files a/src/simulator/Simulator$6.class and b/src/simulator/Simulator$6.class differ
diff --git a/src/simulator/Simulator$7$1.class b/src/simulator/Simulator$7$1.class
index 14b3ffa..c0121ff 100644
Binary files a/src/simulator/Simulator$7$1.class and b/src/simulator/Simulator$7$1.class differ
diff --git a/src/simulator/Simulator$7.class b/src/simulator/Simulator$7.class
index f5e375e..a577762 100644
Binary files a/src/simulator/Simulator$7.class and b/src/simulator/Simulator$7.class differ
diff --git a/src/simulator/Simulator.class b/src/simulator/Simulator.class
index 8b0cba7..63986b2 100644
Binary files a/src/simulator/Simulator.class and b/src/simulator/Simulator.class differ
diff --git a/src/simulator/Simulator.java b/src/simulator/Simulator.java
index 837a986..9d85f0a 100644
--- a/src/simulator/Simulator.java
+++ b/src/simulator/Simulator.java
@@ -161,7 +161,8 @@ class MTFastestPath extends SwingWorker<Integer, String> {
             protected Integer doInBackground() throws Exception {
                 bot.reset();
                 map.paintComponent(map.getGraphics());
-                bot.setRealRun(true);
+                //bot.setRealRun(true);
+                /*
                 Communication comms = new Communication();
                 comms = comms.getComms();
                 System.out.println("Open comms in fastest path");
@@ -177,16 +178,17 @@ protected Integer doInBackground() throws Exception {
                             getWayPoint(msg);
                         }
                     }
-                }
+                }*/
 
                 FastestPath fastestPath = new FastestPath(bot, map);
                 fastestPath.run(wayPointY, wayPointX);
+                /*
                 try {
                     TimeUnit.MILLISECONDS.sleep(3000);
                     System.out.println("Reached Way Point");
                 } catch (InterruptedException e) {
                     System.out.println("Error in waiting in way point.");
-                }
+                }*/
                 FastestPath fastestPath2 = new FastestPath(bot, map);
                 fastestPath2.run(Constant.GOAL_ROW, Constant.GOAL_COL);