Some questions about NAV

[Siblingvv]

Hello! Thanks for the wonderful library. I added it to my bot and it works. But I have 2 questions:

1. How to set the maximum possible distance between 2 points on the way?
   When we have a long straight line - I want to divide it into segments whose maximum length is "40" - but I still do not understand how to do this.
   Screenshot so that you understand me correctly: https://i.imgur.com/TeJdfv9.png

2. How to make sure that the “bot”, if possible, does not run close to the “walls”, but tries to keep a certain distance from them?
   Screenshot so that you understand me correctly: https://i.imgur.com/4Di1SaY.png

Thank! I'm sorry for my bad english :(

[Siblingvv]

Solved