hmmm i decided to run thru the code, change stuff, then test the time(ms) to do that path, note it down, rinse and repeat:
6219
6188
6156
6141
6078
6063
5657
5312
5297
5281
78 <- Stopped tweaking variables and tried something new, WOW
I cant even believe it myself! if everything carries on going so unusually well (maybe im really getting better at c++), i should have a working AI by this weekend! Thanks all who helped, especially Weaver!