diff --git a/stim/cuda/cost.h b/stim/cuda/cost.h
index db5b7c2..6e24333 100644
--- a/stim/cuda/cost.h
+++ b/stim/cuda/cost.h
@@ -2,10 +2,11 @@
 #include <cuda.h>
 #include <cuda_runtime.h>
 #include <cublas_v2.h>
-#include "cuPrintf.cu"
-#include "cuPrintf.cuh"
+//#include "cuPrintf.cu"
+//#include "cuPrintf.cuh"
 #include <stdio.h>
 #include "../visualization/colormap.h"
+#include <sstream>
 
 #define DIM_Y 10890
 #define DIM_X 20
@@ -37,10 +38,6 @@ float get_sum(float *diff)
 	ret = cublasCreate(&handle);
 	
 	ret = cublasSetVector(20*10, sizeof(*diff), diff, 1, v_dif, 1);
-	if(!testing){
-		stim::gpu2image<float>(v_dif, "sample0.bmp", 20,10,0,1);
-		testing = true;
-	}	//float* out = (float*) malloc(sizeof(float));
 	float out;
 	ret = cublasSasum(handle, 20*10, v_dif, 1, &out);
 	cublasDestroy(handle);
@@ -122,11 +119,12 @@ void cleanUP(cudaGraphicsResource_t src)
 }
 
 extern "C"
-int get_cost(cudaGraphicsResource_t src)
+int get_cost(cudaGraphicsResource_t src, int inter)
 {
 	float output[1089];
 	float mini = 10000000000000000.0;
 	int idx;
+	stringstream name;
 	initArray(src);
 	dim3 grid(20, 10890);
 	dim3 block(1, 1);
@@ -135,11 +133,17 @@ int get_cost(cudaGraphicsResource_t src)
 	stim::gpu2image<float>(result, "test.bmp", 20,10890,0,1);
 	for (int i = 0; i < 1089; i++){
 		output[i] = get_sum(result+(20*10*i));
-		if(output[i] < mini){
+		if(output[i] <= mini){
 			mini = output[i];
 			idx = i;
-		}	
-	}
+//		if(!testing)
+		
+//		testing = true;
+		}	//float* out = (float*) malloc(sizeof(float));
+	}	
+	name << "sample_" << inter << "_" << idx << ".bmp";
+	output[idx] = get_sum(result+(20*10*idx));
+	stim::gpu2image<float>(v_dif, name.str(), 20,10,0,1);
 	std::cout << output[0] << std::endl;
 	std::cout << output[100] << std::endl;
 	std::cout << output[500] << std::endl;
diff --git a/stim/gl/gl_spider.h b/stim/gl/gl_spider.h
index c28c257..0266563 100644
--- a/stim/gl/gl_spider.h
+++ b/stim/gl/gl_spider.h
@@ -7,7 +7,7 @@
 #include <cuda_gl_interop.h>
 #include <cudaGL.h>
 #include <math.h>
-#include "gl_texture.h"
+#include "../gl/gl_texture.h"
 #include "../visualization/camera.h"
 #include "./error.h"
 #include "../math/vector.h"
@@ -15,6 +15,9 @@
 #include "../cuda/cost.h"
 #include "../cuda/glbind.h"
 
+#include <iostream>
+#include <fstream>
+
 namespace stim
 {
 
@@ -24,7 +27,6 @@ class gl_spider : public virtual gl_texture<T>
 	//doen't use gl_texture really, just needs the GLuint id.
 	//doesn't even need the texture iD really.
 	private:
-		stim::camera rotator;
 		stim::vec<float> position;  	//vector designating the position of the spider.
 		stim::vec<float> direction;	//vector designating the orientation of the spider
 						//always a unit vector.
@@ -32,7 +34,6 @@ class gl_spider : public virtual gl_texture<T>
 						//mag[0] = length.
 						//mag[1] = width.
 		using gl_texture<T>::texID;
-		//float (*S)[][];
 		//using image_stack<T>::S;
 		cudaArray* c_Array;
 		//void** devPtr;
@@ -40,14 +41,7 @@ class gl_spider : public virtual gl_texture<T>
 		cudaGraphicsResource_t resource;
 		GLuint fboID;
 		GLuint texbufferID;
-
-		void
-		findOptimalDirection()
-		{
-			/* Method for finding the best direction for the spider.
-			   Uses the camera to rotate. Then Calls Evaluate to find new cost.
-			*/
-		}
+		int iter = 0;
 
 		void
 		findOptimalPosition()
@@ -209,12 +203,14 @@ class gl_spider : public virtual gl_texture<T>
 		{
 			GenerateFBO(20, numSamples*10);
 
+			ofstream file;
+			file.open("samples.txt", std::ios_base::app);
 			float samples[numSamples][3];    	//Set up the variables
 							 	//necessary for sample generation
 			vec<float> d_s = in.cart2sph();
 			vec<float> temp;
 			int dim = (sqrt(numSamples)-1)/2;
-			std::cout << dim << std::endl;
+			//std::cout << dim << std::endl;
 			float y_0 	= 0.0;
 			float len 	= 10.0;
 			float p0  	= M_PI/3;
@@ -244,22 +240,26 @@ class gl_spider : public virtual gl_texture<T>
 			glEnable(GL_TEXTURE_3D);
 			glBindTexture(GL_TEXTURE_3D, texID);
 			
+			//file << "iteration: " << iter << "\n";
+			//file << "starting pos and dir:" << "[" << position[0] << "," <<position[1] << "," << position[2] << "]" << ":" << "["  << direction[0] << "," << direction[1] << "," << direction[2] << "]\n"; 
 			//Loop over the samples
+			file << position[0] << "," <<position[1] << "," << position[2] << "\n"; 
 			int idx;
 			for(int i = -dim; i <= dim; i++){
 				for(int j = -dim; j <= dim; j++){
 					//Create linear index
 					idx = (i+dim)*(dim*2+1) + (j+dim);
-		//			std::cerr << i+dim << "," << j+dim << ":" << idx << std::endl;
 
-					temp[0] = 1; 			//rotate vector
+					temp[0] = d_s[0]; 			//rotate vector
 					temp[1] = d_s[1]+dt*i;
 					temp[2] = d_s[2]+dp*j;
 
-					temp = temp.sph2cart();		//back to cart
+					temp = (temp.sph2cart()).norm();		//back to cart
 					samples[idx][0] = temp[0];	//save sample vector
 					samples[idx][1] = temp[1];
 					samples[idx][2] = temp[2];
+	
+					//file << idx << ":"  <<"[" << samples[idx][0] << "," << samples[idx][1] << "," << samples[idx][2] << "]" << "\n";
 
 					Update(0.0, y_0+(idx)*10, temp); 
 				}
@@ -269,6 +269,58 @@ class gl_spider : public virtual gl_texture<T>
 			glDisable(GL_TEXTURE_3D);
 			glBindFramebuffer(GL_FRAMEBUFFER,0);
 			glBindTexture(GL_TEXTURE_2D, 0);
+			int nxt = getCost();
+			stim::vec<float> next;
+			next[0] = samples[nxt][0];
+			next[1] = samples[nxt][1];
+			next[2] = samples[nxt][2];
+			next.norm();	
+			//file << "next direction" << "[" << next[0] << "," << next[1] << "," << next[2] << "]\n\n"; 
+			setPosition(position[0] + next[0]/500,
+					 position[1]+next[1]/500,
+						position[2]+next[2]/500);
+			setDirection(next[0], next[1], next[2]);
+			//file.close();
+		}
+
+//--------------------------------------------------------------------------//
+//--------------------------------CUDA METHODS------------------------------//
+//--------------------------------------------------------------------------//
+		
+		/* Method for registering the texture with Cuda for shared
+			access */
+		void
+		createResource()
+		{
+			HANDLE_ERROR(
+				cudaGraphicsGLRegisterImage(
+					 &resource,
+				 	texbufferID,
+				 	GL_TEXTURE_2D,
+				 	//CU_GRAPHICS_REGISTER_FLAGS_NONE)
+					cudaGraphicsMapFlagsReadOnly)
+			);
+		} 
+		
+		/* Method for freeing the texture from Cuda for gl access */
+		void
+		destroyResource()
+		{
+			HANDLE_ERROR(
+				cudaGraphicsUnregisterResource(resource)
+			);		
+		}
+
+		/* Entry-point into the cuda code for calculating the cost
+			of a given samples array (in texture form) */
+		int
+		getCost()
+		{
+			createResource();
+			int cost = 	get_cost(resource, iter);
+			destroyResource();
+			iter++;
+			return cost;
 		}
 
 	public:
@@ -403,8 +455,9 @@ class gl_spider : public virtual gl_texture<T>
 		{
 			std::cout << position[0] << "," << position[1] << "," << position[1]
 				<< std::endl;
-			setPosition(direction*magnitude[1]/2+position);
-			Update();
+			//setPosition(direction*magnitude[1]/2+position);
+			findOptimalDirection();
+			//Update();
 			std::cout << position[0] << "," << position[1] << "," << position[1]
 				<< std::endl;
 			
@@ -536,44 +589,25 @@ class gl_spider : public virtual gl_texture<T>
 
 
 
+
 		void
-		initCuda()
-		{	
-			stim::cudaSetDevice();
-			GLint max;
-			glGetIntegerv(GL_MAX_TEXTURE_SIZE, &max);
-			std::cout << max << std::endl;
-		}
-		
-		void
-		createResource()
-		{
-			HANDLE_ERROR(
-				cudaGraphicsGLRegisterImage(
-					 &resource,
-				 	texbufferID,
-				 	GL_TEXTURE_2D,
-				 	//CU_GRAPHICS_REGISTER_FLAGS_NONE)
-					cudaGraphicsMapFlagsReadOnly)
-			);
-		} 
-		
-		void
-		destroyResource()
+		findOptimalDirection()
 		{
-			HANDLE_ERROR(
-				cudaGraphicsUnregisterResource(resource)
-			);		
+			/* Method for finding the best direction for the spider.
+			   Uses the camera to rotate. Then Calls Evaluate to find new cost.
+			*/
+			Sample(direction);
 		}
 
-
-		int
-		getCost()
-		{
-			createResource();
-			int cost = 	get_cost(resource);
-			destroyResource();
-			return cost;
+		/* Method for initializing the cuda devices, necessary only
+			there are multiple cuda devices */
+		void
+		initCuda()
+		{	
+			//stim::cudaSetDevice();
+			//GLint max;
+			//glGetIntegerv(GL_MAX_TEXTURE_SIZE, &max);
+			//std::cout << max << std::endl;
 		}
 };
 }
--
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