diff --git a/DefaultConditions/README.md b/DefaultConditions/README.md
index 8df197e..5f3a17f 100644
--- a/DefaultConditions/README.md
+++ b/DefaultConditions/README.md
@@ -1 +1,6 @@
-# Default Condition
\ No newline at end of file
+# Default Conditions
+
+## Method of Operation
+To determine which blocks to check the condition of the default function draws from positions and conditions specified in the `predecessorConditions.json` or `successorConditions.json` files.
+
+The function iterates down the json file recursively, when encountering a `condition` node it indicates that that condition must be met for the block position specified in `blockconditions` and all other positions after it. Whereas a failed `nc_condition` still allows the conditions for any further `blockconditions` to be met.
\ No newline at end of file
diff --git a/Pathfinders/ASTAR.js b/Pathfinders/ASTAR.js
index 2bea210..1899748 100644
--- a/Pathfinders/ASTAR.js
+++ b/Pathfinders/ASTAR.js
@@ -16,6 +16,7 @@ module.exports = function(bot, sp, ep)
     function ASTARReturnState(MainPromise)
     {
         const ReturnState = this;
+
         this.on = function(Callback)
         {
             MainPromise.then(function(IntermediateObject)
diff --git a/Pathfinders/DLITE.js b/Pathfinders/DLITE.js
index e916810..ff07358 100644
--- a/Pathfinders/DLITE.js
+++ b/Pathfinders/DLITE.js
@@ -33,10 +33,9 @@ module.exports = function(bot, sp, ep)
                 Callback(ReturnState);
             };
 
-            MainPromise.then(function(IntermediateObject)
-            {
-                ResolveFunction(IntermediateObject);
-            }).catch(function(e) {console.error('ERROR Pathfinder:', e);});
+            MainPromise
+                .then(ResolveFunction)
+                .catch(function(e) {console.error('ERROR Pathfinder:', e);});
         };
 
         // Path functions
diff --git a/Pathfinders/README.md b/Pathfinders/README.md
index 8b5e0a5..c9776d1 100644
--- a/Pathfinders/README.md
+++ b/Pathfinders/README.md
@@ -2,7 +2,6 @@
 
 ## Table of Contents
 - [Algorithm Documentation](#algorithm-documentation)
-    - [Table of Contents](#table-of-contents)
     - [A* Pathfinding](#a-pathfinding)
         - [ASTARReturnState](#astarreturnstate)
             - [ASTARReturnState.on( Callback)](#astarreturnstateon-callback)
@@ -16,7 +15,7 @@
             - [DLITEReturnState.path.pop()](#dlitereturnstatepathpop)
             - [DLITEReturnState.path.peek()](#dlitereturnstatepathpeek)
             - [DLITEReturnState.path.replan()](#dlitereturnstatepathreplan)
-    - [JPS A* Pathfinding \[Not implemented]](#jps-a-pathfinding-\not-implemented)
+    - [JPS A* Pathfinding [Not implemented]](#jps-a-pathfinding-not-implemented)
 
 ## A* Pathfinding
 Standard A* algorithim as per Peter E. Hart, Nils J. Nilsson, Bertram Raphael, 1968.
@@ -80,7 +79,7 @@ Returns position vector.
 Recomputes the global state, when complete the function provided in `DLITEReturnState.on` is run again.
 
 
-## JPS A* Pathfinding \[Not implemented]
+## JPS A* Pathfinding [Not implemented]
 Jump Point Search as per Daniel Harabor, Alban Grastien, 2011.
 Should you want to learn how the algorithm works: http://users.cecs.anu.edu.au/~dharabor/data/papers/harabor-grastien-aaai11.pdf.
 
diff --git a/README.md b/README.md
index 25e0c57..2d0a4dd 100644
--- a/README.md
+++ b/README.md
@@ -86,15 +86,27 @@ bot.on('chat', function(username, message)
                     {
                         bot.move.along(ReturnState.path).then(function(MoveReturn)
                         {
-                            // Checks if this is a replan as the peek method will return undefined.
-                            if (MoveReturn === bot.move.ENUMStatus.Arrived)
+                            // Checks if bot hasnt moved since last replan
+                            if (lastPoint && lastPoint.equals(bot.entity.position.floored()))
+                                bot.chat('I\'ve been blocked!');
+
+                            else if (MoveReturn === bot.move.ENUMStatus.Arrived)
                             {
-                                // Will call function specified in bot.pathfinder.on again, once replan is complete.
+                                // Checks if this is a replan appropiate situation
                                 if (!endPoint.equals(bot.entity.position.floored()))
+                                {
+                                    lastPoint = bot.entity.position.floored();
+                                    // Will call this function again when completed
                                     ReturnState.path.replan();
+                                }
                                 else
                                     bot.chat('I\'ve arrived!');
                             }
+                            else
+                            {
+                                lastPoint = bot.entity.position.floored();
+                                ReturnState.path.replan();
+                            }
                         });
                     });
             });
diff --git a/index.js b/index.js
index ef0d38a..c0efca3 100644
--- a/index.js
+++ b/index.js
@@ -11,8 +11,8 @@ module.exports = function(bot)
     // All in all the user is encouraged to supply his own successor or predecessor functions.
 
     bot.pathfinder = {};
-    bot.pathfinder.ENUMPathfinder = {ASTAR: 0, DLITE: 1, UDLITE: 2};
-    bot.pathfinder.ENUMStatus = {Complete: 0, Incomplete: 1, Replan: 2};
+    bot.pathfinder.ENUMPathfinder = {ASTAR: 0, DLITE: 1};
+    bot.pathfinder.ENUMStatus = {Complete: 0, Incomplete: 1};
 
     Object.defineProperty(bot.pathfinder, 'defaultSuccessors', {
         value: require(Path.resolve(__dirname, 'DefaultConditions/successorConditions.json')), enumerable: false,
@@ -66,7 +66,7 @@ module.exports = function(bot)
             return require(Path.resolve(__dirname, 'Pathfinders/DLITE.js'))(bot, Start.floored(), End.floored());
     };
 
-    bot.pathfinder.MAX_EXPANSIONS = 120000; // 100000
+    bot.pathfinder.MAX_EXPANSIONS = 100000; // 100000
     bot.pathfinder.HEURISTIC = function(p1, p2) {return p1.distanceTo(p2);};
     bot.pathfinder.COST = bot.pathfinder.HEURISTIC;