diff --git a/LightningRobot.java b/LightningRobot.java
index a538acb..b8136e2 100644
--- a/LightningRobot.java
+++ b/LightningRobot.java
@@ -15,6 +15,8 @@
 
 import java.io.IOException;
 import java.util.Properties;
+import com.pathplanner.lib.pathfinding.LocalADStar;
+import com.pathplanner.lib.pathfinding.Pathfinding;
 
 /**
  * Base robot class, provides
@@ -84,6 +86,7 @@ public void disabledPeriodic() {
     @Override
     public void robotInit() {
         System.out.println("LightningRobot.robotInit");
+        Pathfinding.setPathfinder(new LocalADStar());
 
         //Starts WPILIB data logging
         DataLogManager.start("/home/lvuser/datalog");