diff --git a/editor/editor.html b/editor/editor.html
index 9293784..f842cef 100644
--- a/editor/editor.html
+++ b/editor/editor.html
@@ -39,7 +39,7 @@
       Length: <input id="courseLength" type="number" min="10" max="1000" value="30">
       Vision: <input id="vision" type="number" min="5" max="1000" value="10">
       Time Limit: <input id="thinkTime" type="number" min="100"
-			 max="100000" value="2000">
+			 max="100000" value="20000">
       Step Limit: <input id="stepLimit" type="number" min="10"
 			 max="1000" value="50">
       <button onclick="sizeSet(event)">Set Size</button>
diff --git a/editor/editor.js b/editor/editor.js
index 4889722..b2945c8 100644
--- a/editor/editor.js
+++ b/editor/editor.js
@@ -57,7 +57,7 @@ var startAnew;
 var course = {
   filetype: editingCourseFileType,
   width: 15, length: 30, vision: 10,
-  thinkTime: 2000, stepLimit: 50,
+  thinkTime: 20000, stepLimit: 50,
   x0: 6, x1: 8,
   obstacles: []
 };
@@ -128,6 +128,7 @@ function loadFile(evt) {
 	document.getElementById("vision").value = course.vision;
 	document.getElementById("thinkTime").value = course.thinkTime;
 	document.getElementById("stepLimit").value = course.stepLimit;
+	ylimit = course.length+course.vision-1;
 	buildCourse();
       }
     };
diff --git a/samples/sample-course.json b/samples/sample-course.json
index de5f83d..a89685e 100644
--- a/samples/sample-course.json
+++ b/samples/sample-course.json
@@ -1 +1 @@
-{"filetype":"race course for editing","width":15,"length":100,"vision":8,"thinkTime":2000,"stepLimit":100,"x0":5,"x1":9,"obstacles":[[{"x":7,"y":2},{"x":11,"y":13},{"x":3,"y":9}],[{"x":7,"y":18},{"x":0,"y":23},{"x":0,"y":11}],[{"x":14,"y":16},{"x":6,"y":26},{"x":14,"y":28}],[{"x":0,"y":30},{"x":5,"y":36},{"x":3,"y":40},{"x":11,"y":44},{"x":0,"y":46}],[{"x":7,"y":47},{"x":14,"y":55},{"x":14,"y":46}],[{"x":5,"y":57},{"x":5,"y":50},{"x":9,"y":54}],[{"x":0,"y":60},{"x":10,"y":63},{"x":0,"y":68}],[{"x":9,"y":74},{"x":8,"y":77},{"x":14,"y":78},{"x":14,"y":66}],[{"x":0,"y":92},{"x":6,"y":91},{"x":11,"y":87},{"x":4,"y":86},{"x":0,"y":81}],[{"x":14,"y":98},{"x":10,"y":95},{"x":14,"y":91}]]}
+{"filetype":"race course for editing","width":15,"length":100,"vision":8,"thinkTime":20000,"stepLimit":100,"x0":5,"x1":9,"obstacles":[[{"x":7,"y":2},{"x":11,"y":13},{"x":3,"y":9}],[{"x":7,"y":18},{"x":0,"y":23},{"x":0,"y":11}],[{"x":14,"y":16},{"x":6,"y":26},{"x":14,"y":28}],[{"x":0,"y":30},{"x":5,"y":36},{"x":3,"y":40},{"x":11,"y":44},{"x":0,"y":46}],[{"x":7,"y":47},{"x":14,"y":55},{"x":14,"y":46}],[{"x":5,"y":57},{"x":5,"y":50},{"x":9,"y":54}],[{"x":0,"y":60},{"x":10,"y":63},{"x":0,"y":68}],[{"x":9,"y":74},{"x":8,"y":77},{"x":14,"y":78},{"x":14,"y":66}],[{"x":0,"y":92},{"x":6,"y":91},{"x":11,"y":87},{"x":4,"y":86},{"x":0,"y":81}],[{"x":14,"y":98},{"x":10,"y":95},{"x":14,"y":91}]]}
diff --git a/samples/sample-course.smrjky b/samples/sample-course.smrjky
index 7f2d4eb..f781826 100644
--- a/samples/sample-course.smrjky
+++ b/samples/sample-course.smrjky
@@ -1 +1 @@
-{"filetype":"race course","width":15,"length":100,"vision":8,"thinkTime":20000,"stepLimit":100,"x0":5,"x1":9,"obstacles":[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,1,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,1,1,1,0,0,0,0,0,0],[0,0,0,0,0,1,1,1,1,0,0,0,0,0,0],[0,0,0,0,0,1,1,1,1,0,0,0,0,0,0],[0,0,0,0,1,1,1,1,1,1,0,0,0,0,0],[0,0,0,1,1,1,1,1,1,1,0,0,0,0,0],[0,0,0,0,0,1,1,1,1,1,0,0,0,0,0],[1,0,0,0,0,0,0,1,1,1,1,0,0,0,0],[1,1,0,0,0,0,0,0,0,1,1,0,0,0,0],[1,1,1,0,0,0,0,0,0,0,0,1,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,1],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,1],[1,1,1,1,1,1,1,1,0,0,0,0,0,1,1],[1,1,1,1,1,1,0,0,0,0,0,0,1,1,1],[1,1,1,1,1,0,0,0,0,0,0,1,1,1,1],[1,1,1,0,0,0,0,0,0,0,1,1,1,1,1],[1,1,0,0,0,0,0,0,0,0,1,1,1,1,1],[1,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,1,1,1,1,1,1,1,1],[0,0,0,0,0,0,1,1,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,1,1,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,1,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,1,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,1,1,0,0,0,0,1,1,1,1],[0,0,0,0,0,1,1,1,0,0,0,0,1,1,1],[0,0,0,0,0,1,1,1,1,0,0,0,0,1,1],[0,0,0,0,0,1,1,1,1,1,0,0,0,0,1],[0,0,0,0,0,1,1,1,0,0,0,0,0,0,1],[0,0,0,0,0,1,1,0,0,0,0,0,0,0,0],[0,0,0,0,0,1,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,1,0,0,0,0],[1,1,1,1,1,1,1,1,1,0,0,0,0,0,0],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,1],[1,1,1,0,0,0,0,0,0,0,0,0,0,0,1],[1,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,1,1,0,0,0],[1,1,1,1,1,1,1,1,1,1,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,1],[1,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]}
+{"filetype":"race course","width":15,"length":100,"vision":8,"thinkTime":20000,"stepLimit":100,"x0":5,"x1":9,"obstacles":[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,1,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,1,1,1,0,0,0,0,0,0],[0,0,0,0,0,1,1,1,1,0,0,0,0,0,0],[0,0,0,0,0,1,1,1,1,0,0,0,0,0,0],[0,0,0,0,1,1,1,1,1,1,0,0,0,0,0],[0,0,0,1,1,1,1,1,1,1,0,0,0,0,0],[0,0,0,0,0,1,1,1,1,1,0,0,0,0,0],[1,0,0,0,0,0,0,1,1,1,1,0,0,0,0],[1,1,0,0,0,0,0,0,0,1,1,0,0,0,0],[1,1,1,0,0,0,0,0,0,0,0,1,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,1],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,1],[1,1,1,1,1,1,1,1,0,0,0,0,0,1,1],[1,1,1,1,1,1,0,0,0,0,0,0,1,1,1],[1,1,1,1,1,0,0,0,0,0,0,1,1,1,1],[1,1,1,0,0,0,0,0,0,0,1,1,1,1,1],[1,1,0,0,0,0,0,0,0,0,1,1,1,1,1],[1,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,1,1,1,1,1,1,1,1],[0,0,0,0,0,0,1,1,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,1,1,0,0,0],[1,1,1,1,1,1,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,1,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,1,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,1,1,0,0,0,0,1,1,1,1],[0,0,0,0,0,1,1,1,0,0,0,0,1,1,1],[0,0,0,0,0,1,1,1,1,0,0,0,0,1,1],[0,0,0,0,0,1,1,1,1,1,0,0,0,0,1],[0,0,0,0,0,1,1,1,0,0,0,0,0,0,1],[0,0,0,0,0,1,1,0,0,0,0,0,0,0,0],[0,0,0,0,0,1,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,1,0,0,0,0],[1,1,1,1,1,1,1,1,1,0,0,0,0,0,0],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,1],[1,1,1,0,0,0,0,0,0,0,0,0,0,0,1],[1,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,1,1,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,0,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,0,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,0,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,0,0,0,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,1,1,1,0,0,0],[1,1,1,1,1,1,1,1,1,1,0,0,0,0,0],[1,1,1,1,1,1,1,1,1,0,0,0,0,0,0],[1,1,1,1,1,1,1,1,0,0,0,0,0,0,0],[1,1,1,1,1,1,1,0,0,0,0,0,0,0,1],[1,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,1,1,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,1,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,1,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]}