diff --git a/bots/example_java/MyRobot.java b/bots/example_java/MyRobot.java
index ff6838a..e05665b 100644
--- a/bots/example_java/MyRobot.java
+++ b/bots/example_java/MyRobot.java
@@ -3,58 +3,62 @@
 public class MyRobot extends BCAbstractRobot {
 
     public Action turn() {
-        if (me.unit == SPECS.CASTLE) {
-            log("Building a pilgrim.");
-            return buildUnit(SPECS.PILGRIM,1,0);
-        }
-        return move(1,0);
+    	turn++;
 
-    }
-}
-// package bc19;
-// import java.awt.Point;
-
-// public class MyRobot extends BCAbstractRobot {
-// 	public int turn;
-// 	public Point destination;
-
-//     public Action turn() {
-//     	turn++;
-
-//     	if (me.unit == SPECS.CASTLE) {
-//     		if (turn == 1) {
-//     			log("Building a pilgrim.");
-//     			return buildUnit(SPECS.PILGRIM,1,0);
-//     		}
-
-// 			Robot[] visibleRobots = getVisibleRobots();
-// 			for(Robot r: visibleRobots) {
-// 				if (r.team != me.team) {
-// 					int diffX = r.x - me.x;
-// 					int diffY = r.y - me.y;
-// 					return attack(diffX, diffY);
-// 				}
-// 			}
-
-// 			Point myLocation = new Point(me.x, me.y);
-
-// 			if (destination == null) {
-// 				destination = Navigation.reflect(myLocation, getPassableMap(), me.id % 2 == 0);
-// 			}
-
-// 			Point movementDirection = Navigation.goTo(myLocation, destination, getPassableMap(), getVisibleRobotMap());
-// 			return move(movementDirection.x, movementDirection.y);
-//     	}
-
-//     	if (me.unit == SPECS.PILGRIM) {
-//     		if (turn == 1) {
-//     			log("I am a pilgrim.");
-                 
-//                 //log(Integer.toString([0][getVisibleRobots()[0].castle_talk]));
-//     		}
-//     	}
+    	if (me.unit == SPECS.CASTLE) {
+    		if (turn < 3) {
+    			log("Building a Crusader.");
+    			return buildUnit(SPECS.CRUSADER,1,0);
+    		}
+    	}
+
+    	if (me.unit == SPECS.CRUSADER) {
+    		if (turn == 1) {
+				log("I am a Crusader.");
+			}
+
+			Robot[] visibleRobots = getVisibleRobots();
+			for(Robot r: visibleRobots) {
+				if (r.team != me.team) {
+					int diffX = r.x - me.x;
+					int diffY = r.y - me.y;
+					int dist = diffX * diffX + diffY * diffY;
+					if (dist >= SPECS.UNITS[SPECS.CRUSADER].ATTACK_RADIUS[0] && dist <= SPECS.UNITS[SPECS.CRUSADER].ATTACK_RADIUS[1]) {
+						return attack(diffX, diffY);
+					}
+				}
+			}
+
+			Point myLocation = new Point(me.x, me.y);
+
+			if (destination == null) {
+				destination = Navigation.reflect(myLocation, getPassableMap(), me.id % 2 == 0);
+			}
+
+			Point movementDirection = Navigation.goTo(myLocation, destination, getPassableMap(), getVisibleRobotMap());
+			return move(movementDirection.x, movementDirection.y); 
+    	}
 
 //     	return null;
 
-// 	}
-// }
\ No newline at end of file
+	}
+}
+
+class Point {
+	public int x;
+	public int y;
+	Point(int x, int y) {
+		this.x = x;
+		this.y = y;
+	}
+
+	int getSquaredDistTo(Point other) {
+		int dx = x - other.x;
+		int dy = y - other.y;
+		return dx * dx + dy * dy;
+	}
+
+	Point applyDir(Point dir) {
+		return new Point(x + dir.x, y + dir.y);
+	}
+}
diff --git a/bots/example_java/Navigation.java b/bots/example_java/Navigation.java
new file mode 100644
index 0000000..df839c9
--- /dev/null
+++ b/bots/example_java/Navigation.java
@@ -0,0 +1,98 @@
+package bc19;
+import java.util.*;
+
+
+public class Navigation {
+    public static final String[][] COMPASS = {{"NW", "N", "NE"},{"W", "C", "E"},{"SE", "S", "SE"}};
+    public static final String[] ROTATION_ARRAY = {"N", "NE", "E", "SE", "S", "SW", "W", "NW"};
+
+    public static Point goTo(Point start, Point target, boolean[][] fullMap, int[][] robotMap) {
+        Point direction = calculateDirection(start, target);
+        if (direction.x == 0 && direction.y == 0) {
+            return direction;
+        }
+        while(!isPassable(start.applyDir(direction), fullMap, robotMap)) {
+            direction = rotate(direction, 1);
+        }
+
+        return direction;
+    }
+
+    static Point compassToPoint(String dir) {
+        switch(dir) {
+            case "N":
+                return new Point(0, -1);
+            case "NE":
+                return new Point(1, -1);
+            case "NW":
+                return new Point(-1, -1);
+            case "E":
+                return new Point(1, 0);
+            case "W":
+                return new Point(-1, 0);
+            case "SE":
+                return new Point(1, 1);
+            case "SW":
+                return new Point(-1, 1);
+            default:
+                return new Point(0,0);
+        }
+    }
+
+    static String pointToCompass(Point dir) {
+        return COMPASS[(int)(dir.y + 1)][(int)(dir.x + 1)];
+    }
+
+    public static Point rotate(Point dir, int amount) {
+        String compassDir = pointToCompass(dir);
+        List<String> rotationList = Arrays.asList(ROTATION_ARRAY);
+        String rotateCompassDir = rotationList.get((rotationList.indexOf(compassDir) + amount + 8) % 8);
+        return compassToPoint(rotateCompassDir);
+    }
+
+    public static Point reflect(Point loc, boolean[][] fullMap, boolean isHorizontalReflection) {
+        Point hReflect = new Point(loc.x, fullMap.length - loc.y);
+        Point vReflect = new Point(fullMap.length - loc.x, loc.y);
+
+        if (isHorizontalReflection) {
+            return fullMap[hReflect.y][hReflect.x] ? hReflect : vReflect;
+        } else {
+            return fullMap[vReflect.y][vReflect.x] ? vReflect : hReflect;
+        }
+    }
+
+    public static Point calculateDirection(Point start, Point target) {
+        int dX = target.x - start.x;
+        int dY = target.y - start.y;
+
+        if (dX < 0) {
+            dX = -1;
+        } else if (dX > 0) {
+            dX = 1;
+        }
+
+        if (dY < 0) {
+            dY = -1;
+        } else if (dY > 0) {
+            dY = 1;
+        }
+
+        return new Point(dX, dY);
+    }
+
+    public static boolean isPassable(Point loc, boolean[][] fullMap, int[][] robotMap) {
+        int mapLength = fullMap.length;
+        int x = loc.x;
+        int y = loc.y;
+        if (x < 0 || x >= mapLength) {
+            return false;
+        }
+        if (y < 0 || y >= mapLength) {
+            return false;
+        }
+        if (!fullMap[y][x] || robotMap[y][x] > 0) {
+            return false;
+        }
+        return true;
+    }
+}
\ No newline at end of file