diff --git a/src/Actions/Action.ts b/src/Actions/Action.ts
deleted file mode 100644
index f3cc0d9..0000000
--- a/src/Actions/Action.ts
+++ /dev/null
@@ -1,62 +0,0 @@
-declare global {
-  interface CreepMemory {
-    state?: number;
-  }
-}
-
-export interface ChainableAction {
-  or: (action: Action) => ChainableAction;
-  and: (action: Action) => ChainableAction;
-  andThen: (action: Action) => ChainableAction;
-  repeat: () => void;
-}
-
-export const NoOp: Action = (creep: Creep, state: number = 0) => ({
-  or: () => NoOp(creep, state),
-  and: () => NoOp(creep, state),
-  andThen: () => NoOp(creep, state),
-  repeat: () => {},
-});
-
-export const Success: Action = (creep: Creep, state: number = 0) => ({
-  or: () => Success(creep, state),
-  and: (action: Action) => action(creep, state),
-  andThen: (action: Action) => {
-    creep.memory.state = state + 1;
-    return action(creep, state + 1);
-  },
-  repeat: () => {
-    creep.memory.state = 0;
-  },
-});
-
-export const InProgress: Action = (creep: Creep, state: number = 0) => ({
-  or: () => InProgress(creep, state),
-  and: (action: Action) => action(creep, state),
-  andThen: () => NoOp(creep, state),
-  repeat: () => {},
-});
-
-export const Fail: Action = (creep: Creep, state: number = 0) => ({
-  or: (action: Action) => action(creep, state),
-  and: () => NoOp(creep, state),
-  andThen: () => NoOp(creep, state),
-  repeat: () => {
-    console.log("Warning: Last task in series failed for creep " + creep.name);
-  },
-});
-
-export const createAction
-  = (name: string, action: (c: Creep) => Action): Action => {
-    return (creep: Creep, state: number = 0) => {
-      if ((creep.memory.state ?? 0) > state) {
-        return Success(creep, state);
-      }
-      return action(creep)(creep, state);
-    };
-  };
-
-export const runAction = (creep: Creep, action: Action): ChainableAction =>
-  action(creep);
-
-export type Action = (creep: Creep, state?: number) => ChainableAction;
diff --git a/src/Actions/buildConstructionSite.ts b/src/Actions/buildConstructionSite.ts
deleted file mode 100644
index 8cc5131..0000000
--- a/src/Actions/buildConstructionSite.ts
+++ /dev/null
@@ -1,24 +0,0 @@
-import { createAction, Fail, InProgress, Success } from "./Action";
-import { moveTo } from "./moveTo";
-
-export const buildConstructionSite = () =>
-  createAction("buildConstructionSite", (creep: Creep) => {
-    const cs = creep.pos.findClosestByRange(FIND_CONSTRUCTION_SITES);
-    if (!cs) {
-      return Fail;
-    }
-    switch (creep.build(cs)) {
-      case OK: {
-        return InProgress;
-      }
-      case ERR_NOT_ENOUGH_RESOURCES: {
-        return Success;
-      }
-      case ERR_NOT_IN_RANGE: {
-        return moveTo(cs);
-      }
-      default: {
-        return Fail;
-      }
-    }
-  });
diff --git a/src/Actions/harvest.ts b/src/Actions/harvest.ts
deleted file mode 100644
index ff04e16..0000000
--- a/src/Actions/harvest.ts
+++ /dev/null
@@ -1,24 +0,0 @@
-import { createAction, Fail, InProgress, Success } from "./Action";
-import { moveTo } from "./moveTo";
-
-export const harvestFromClosestActiveSource = () =>
-  createAction("harvestFromClosestActiveSource", (creep: Creep) => {
-    const source = creep.pos.findClosestByPath(FIND_SOURCES_ACTIVE);
-    if (!source) {
-      return Fail;
-    }
-    if (creep.store.getFreeCapacity(RESOURCE_ENERGY) === 0) {
-      return Success;
-    }
-    switch (creep.harvest(source)) {
-      case OK: {
-        return InProgress;
-      }
-      case ERR_NOT_IN_RANGE: {
-        return moveTo(source);
-      }
-      default: {
-        return Fail;
-      }
-    }
-  });
diff --git a/src/Actions/moveTo.ts b/src/Actions/moveTo.ts
deleted file mode 100644
index 2e34e92..0000000
--- a/src/Actions/moveTo.ts
+++ /dev/null
@@ -1,16 +0,0 @@
-import { createAction, Fail, InProgress } from "./Action";
-
-export const moveTo = (pos: _HasRoomPosition | RoomPosition) =>
-  createAction("moveTo", (creep: Creep) => {
-    switch (creep.travelTo(pos)) {
-      case OK: {
-        return InProgress;
-      }
-      case ERR_TIRED: {
-        return InProgress;
-      }
-      default: {
-        return Fail;
-      }
-    }
-  });
diff --git a/src/Actions/repairStructure.ts b/src/Actions/repairStructure.ts
deleted file mode 100644
index a11a796..0000000
--- a/src/Actions/repairStructure.ts
+++ /dev/null
@@ -1,25 +0,0 @@
-import { createAction, Fail, InProgress, Success } from "./Action";
-import { moveTo } from "./moveTo";
-
-export const repairStructure = () =>
-  createAction("repairStructure", (creep: Creep) => {
-    const cs = creep.pos.findClosestByRange(FIND_STRUCTURES,
-      { filter: str => str.hits < str.hitsMax * 0.8 });
-    if (!cs) {
-      return Fail;
-    }
-    switch (creep.repair(cs)) {
-      case OK: {
-        return InProgress;
-      }
-      case ERR_NOT_ENOUGH_RESOURCES: {
-        return Success;
-      }
-      case ERR_NOT_IN_RANGE: {
-        return moveTo(cs);
-      }
-      default: {
-        return Fail;
-      }
-    }
-  });
diff --git a/src/Actions/transferEnergy.ts b/src/Actions/transferEnergy.ts
deleted file mode 100644
index 0fefeec..0000000
--- a/src/Actions/transferEnergy.ts
+++ /dev/null
@@ -1,33 +0,0 @@
-import { createAction, Fail, InProgress, Success } from "./Action";
-import { moveTo } from "./moveTo";
-
-type TransferTarget = Creep
-  | StructureSpawn
-  | StructureContainer
-  | StructureStorage
-  | StructureExtension
-  | StructureTower;
-
-export const transferEnergy = (target: TransferTarget | null) =>
-  createAction("transferEnergy", (creep: Creep) => {
-    if (target == null) {
-      return Fail;
-    }
-    if (target.store.getFreeCapacity(RESOURCE_ENERGY) === 0) {
-      return Fail;
-    }
-    switch (creep.transfer(target, RESOURCE_ENERGY)) {
-      case OK: {
-        return InProgress;
-      }
-      case ERR_NOT_ENOUGH_RESOURCES: {
-        return Success;
-      }
-      case ERR_NOT_IN_RANGE: {
-        return moveTo(target);
-      }
-      default: {
-        return Fail;
-      }
-    }
-  });
diff --git a/src/Actions/upgradeController.ts b/src/Actions/upgradeController.ts
deleted file mode 100644
index 58af52b..0000000
--- a/src/Actions/upgradeController.ts
+++ /dev/null
@@ -1,20 +0,0 @@
-import { createAction, Fail, InProgress, Success } from "./Action";
-import { moveTo } from "./moveTo";
-
-export const upgradeController = (controller: StructureController) =>
-  createAction("upgradeController", (creep: Creep) => {
-    switch (creep.upgradeController(controller)) {
-      case OK: {
-        return InProgress;
-      }
-      case ERR_NOT_ENOUGH_RESOURCES: {
-        return Success;
-      }
-      case ERR_NOT_IN_RANGE: {
-        return moveTo(controller);
-      }
-      default: {
-        return Fail;
-      }
-    }
-  });
diff --git a/src/Actions/withdrawEnergy.ts b/src/Actions/withdrawEnergy.ts
deleted file mode 100644
index 0fe9bd8..0000000
--- a/src/Actions/withdrawEnergy.ts
+++ /dev/null
@@ -1,27 +0,0 @@
-import { createAction, Fail, InProgress, Success } from "./Action";
-import { moveTo } from "./moveTo";
-
-export const withdrawEnergy
-  = (target: StructureContainer | StructureStorage | null) =>
-    createAction("withdrawEnergy", (creep: Creep) => {
-      if (target == null) {
-        return Fail;
-      }
-      if (target.store.getUsedCapacity(RESOURCE_ENERGY) === 0) {
-        return Fail;
-      }
-      switch (creep.withdraw(target, RESOURCE_ENERGY)) {
-        case OK: {
-          return InProgress;
-        }
-        case ERR_FULL: {
-          return Success;
-        }
-        case ERR_NOT_IN_RANGE: {
-          return moveTo(target);
-        }
-        default: {
-          return Fail;
-        }
-      }
-    });
diff --git a/src/RoomPlanner/Blueprints/Containers.ts b/src/RoomPlanner/Blueprints/Containers.ts
deleted file mode 100644
index 57cd32b..0000000
--- a/src/RoomPlanner/Blueprints/Containers.ts
+++ /dev/null
@@ -1,47 +0,0 @@
-export const buildContainers = (room: Room) => {
-  const controller = room.controller;
-  if (controller == null) {
-    return;
-  }
-  if (controller.level < 2
-    && room.find(FIND_MY_STRUCTURES,
-      { filter: STRUCTURE_EXTENSION }).length > 1) {
-    return;
-  }
-  const sources = room.find(FIND_SOURCES);
-  for (const source of sources) {
-    const pos = source.pos;
-    room.createConstructionSite(pos.x - 1, pos.y, STRUCTURE_CONTAINER);
-    room.createConstructionSite(pos.x + 1, pos.y, STRUCTURE_CONTAINER);
-    room.createConstructionSite(pos.x, pos.y - 1, STRUCTURE_CONTAINER);
-    room.createConstructionSite(pos.x, pos.y + 1, STRUCTURE_CONTAINER);
-    room.createConstructionSite(pos.x - 1, pos.y + 1, STRUCTURE_CONTAINER);
-    room.createConstructionSite(pos.x + 1, pos.y - 1, STRUCTURE_CONTAINER);
-    room.createConstructionSite(pos.x - 1, pos.y - 1, STRUCTURE_CONTAINER);
-    room.createConstructionSite(pos.x + 1, pos.y + 1, STRUCTURE_CONTAINER);
-  }
-  if (controller.level < 4) {
-    return;
-  }
-  const terrain = room.getTerrain();
-  if (terrain.get(controller.pos.x, controller.pos.y - 3)
-    !== TERRAIN_MASK_WALL) {
-    room.createConstructionSite(
-      controller.pos.x, controller.pos.y - 3, STRUCTURE_STORAGE);
-  }
-  else if (terrain.get(controller.pos.x, controller.pos.y + 3)
-    !== TERRAIN_MASK_WALL) {
-    room.createConstructionSite(
-      controller.pos.x, controller.pos.y + 3, STRUCTURE_STORAGE);
-  }
-  else if (terrain.get(controller.pos.x - 3, controller.pos.y)
-    !== TERRAIN_MASK_WALL) {
-    room.createConstructionSite(
-      controller.pos.x - 3, controller.pos.y, STRUCTURE_STORAGE);
-  }
-  else if (terrain.get(controller.pos.x + 3, controller.pos.y)
-    !== TERRAIN_MASK_WALL) {
-    room.createConstructionSite(
-      controller.pos.x + 3, controller.pos.y, STRUCTURE_STORAGE);
-  }
-};
diff --git a/src/RoomPlanner/Blueprints/Extensions.ts b/src/RoomPlanner/Blueprints/Extensions.ts
deleted file mode 100644
index 1d965b1..0000000
--- a/src/RoomPlanner/Blueprints/Extensions.ts
+++ /dev/null
@@ -1,34 +0,0 @@
-const extentionsAvailable = (roomlevel: number) => {
-  return roomlevel > 2 ? roomlevel * 10 - 20 : (roomlevel - 1) * 5;
-};
-
-export const buildExtentions = (room: Room) => {
-  const spawns = room.find(FIND_MY_SPAWNS);
-  if (spawns.length < 1) return;
-  const spawn = spawns[0];
-  const exts = extentionsAvailable(room.controller?.level ?? 0);
-  const terrain = room.getTerrain();
-  const sqroffset = Math.sqrt(exts) / 2;
-  for (let x = -Math.floor(sqroffset); x < sqroffset; x++) {
-    for (let y = -Math.floor(sqroffset); y < sqroffset; y++) {
-      room.visual.circle(spawn.pos.x + x * 2, spawn.pos.y + y * 2);
-      if (terrain.get(spawn.pos.x + x * 2 - 1, spawn.pos.y + y * 2 - 1)
-        !== TERRAIN_MASK_WALL) {
-        room.createConstructionSite(
-          spawn.pos.x + x * 2 - 1, spawn.pos.y + y * 2 - 1, STRUCTURE_ROAD);
-      }
-      if (terrain.get(spawn.pos.x + x * 2, spawn.pos.y + y * 2 - 1)
-        !== TERRAIN_MASK_WALL) {
-        room.createConstructionSite(
-          spawn.pos.x + x * 2, spawn.pos.y + y * 2 - 1, STRUCTURE_ROAD);
-      }
-      if (terrain.get(spawn.pos.x + x * 2 - 1, spawn.pos.y + y * 2)
-        !== TERRAIN_MASK_WALL) {
-        room.createConstructionSite(
-          spawn.pos.x + x * 2 - 1, spawn.pos.y + y * 2, STRUCTURE_ROAD);
-      }
-      room.createConstructionSite(
-        spawn.pos.x + x * 2, spawn.pos.y + y * 2, STRUCTURE_EXTENSION);
-    }
-  }
-};
diff --git a/src/RoomPlanner/Blueprints/Roads.ts b/src/RoomPlanner/Blueprints/Roads.ts
deleted file mode 100644
index abe4136..0000000
--- a/src/RoomPlanner/Blueprints/Roads.ts
+++ /dev/null
@@ -1,27 +0,0 @@
-export const buildRoads = (room: Room) => {
-  const rc = room.controller?.level ?? 0;
-  if (rc < 2) {
-    return;
-  }
-  const sources: _HasRoomPosition[] = room.find(FIND_SOURCES);
-  const sourcesAndSpawns = sources.concat(room.find(FIND_MY_SPAWNS));
-  const sourcesAndMinerals = sources.concat(room.find(FIND_MINERALS));
-  room.visual.clear();
-  for (const source of sourcesAndSpawns) {
-    for (const source2 of rc > 4 ? sourcesAndMinerals : sources) {
-      const path = source.pos.findPathTo(source2, {
-        ignoreCreeps: true,
-        ignoreRoads: true,
-      });
-      for (const point of path) {
-        if ((point.x === source.pos.x && point.y === source.pos.y)
-          || (point.x === source2.pos.x && point.y === source2.pos.y)) {
-          continue;
-        }
-        room.visual.line(point.x, point.y,
-          point.x - point.dx, point.y - point.dy);
-        room.createConstructionSite(point.x, point.y, STRUCTURE_ROAD);
-      }
-    }
-  }
-};
diff --git a/src/RoomPlanner/index.ts b/src/RoomPlanner/index.ts
new file mode 100644
index 0000000..2fdea09
--- /dev/null
+++ b/src/RoomPlanner/index.ts
@@ -0,0 +1,448 @@
+import profiler from "screeps-profiler";
+
+const roomSize = 50;
+const OBSTACLE = 1000;
+const UNSET = 999;
+
+declare global {
+  interface RoomMemory {
+    _planner: string
+  }
+}
+  const structureCoding: (BuildableStructureConstant | null)[] =
+    [null, STRUCTURE_ROAD, STRUCTURE_CONTAINER, STRUCTURE_EXTENSION, STRUCTURE_FACTORY,
+    STRUCTURE_EXTRACTOR, STRUCTURE_WALL, STRUCTURE_SPAWN, STRUCTURE_POWER_SPAWN,
+    STRUCTURE_STORAGE, STRUCTURE_NUKER, STRUCTURE_TERMINAL, STRUCTURE_LAB,
+    STRUCTURE_LINK, STRUCTURE_TOWER, STRUCTURE_RAMPART];
+
+const getCoord = (x: number, y: number): number => {
+  return x + y * roomSize;
+}
+
+const distanceTransform = (mask: (0 | 999 | 1000)[]): number[] => {
+  let arr: number[] = new Array(...mask);
+  for (let i = 0; arr.find((x) => x === UNSET) != null; i++) {
+    for (let x = 0; x < roomSize; x++) {
+      for (let y = 0; y < roomSize; y++) {
+        if (arr[getCoord(x, y)] === i) {
+          for (let dx = -1; dx < 2; dx++) {
+            for (let dy = -1; dy < 2; dy++) {
+              if (x + dx < 0 || y + dy < 0 || x + dx >= 50 || y + dy >= 50
+                 || arr[getCoord(x, y)] === OBSTACLE) {
+                continue;
+              }
+              if (arr[getCoord(x + dx, y + dy)] === UNSET) {
+                arr[getCoord(x + dx, y + dy)] = i + 1;
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+  return arr;
+};
+
+/* const renderHeatmap = (mask: number[], visual: RoomVisual) => {
+  for (let x = 0; x < 50; x++) {
+    for (let y = 0; y < 50; y++) {
+      if (mask[getCoord(x, y)] === OBSTACLE) {
+        continue;
+      }
+      visual.rect(x - 0.5, y - 0.5, 1, 1, {
+        fill: "#" + (127 + mask[getCoord(x, y)] * 3).toString(16)
+        + 127..toString(16)
+        + (255 - mask[getCoord(x, y)] * 5).toString(16),
+        opacity: 0.2
+      }).text(mask[getCoord(x, y)].toString(), x, y + 0.25);
+    }
+  }
+} */
+
+const createBuildSites = (room: Room) => {
+  let structures = new Array();
+  for (let i = 0; i < room.memory._planner.length; i++) {
+    structures.push(
+      structureCoding[(room.memory._planner.charCodeAt(i) - 32) & 0b11111]
+    );
+    structures.push(
+      structureCoding[(room.memory._planner.charCodeAt(i) - 32) >> 5]
+    );
+  }
+  for (let x = 0; x < roomSize; x++) {
+    for (let y = 0; y < roomSize; y++) {
+      if ((room.controller?.level ?? 0) < 2
+        && structures[getCoord(x, y)] != STRUCTURE_CONTAINER) {
+        continue;
+      }
+      if ((room.controller?.level ?? 0) < 3
+        && !(structures[getCoord(x, y)] == STRUCTURE_CONTAINER
+          || structures[getCoord(x, y)] == STRUCTURE_ROAD
+          || structures[getCoord(x, y)] == STRUCTURE_EXTENSION)) {
+        continue;
+      }
+      if ((room.controller?.level ?? 0) < 4
+        && !(structures[getCoord(x, y)] == STRUCTURE_CONTAINER
+          || structures[getCoord(x, y)] == STRUCTURE_ROAD
+          || structures[getCoord(x, y)] == STRUCTURE_EXTENSION
+          || structures[getCoord(x, y)] == STRUCTURE_RAMPART
+          || structures[getCoord(x, y)] == STRUCTURE_TOWER)) {
+        continue;
+      }
+      if ((room.controller?.level ?? 0) < 5
+        && !(structures[getCoord(x, y)] == STRUCTURE_CONTAINER
+          || structures[getCoord(x, y)] == STRUCTURE_ROAD
+          || structures[getCoord(x, y)] == STRUCTURE_EXTENSION
+          || structures[getCoord(x, y)] == STRUCTURE_RAMPART
+          || structures[getCoord(x, y)] == STRUCTURE_TOWER
+          || structures[getCoord(x, y)] == STRUCTURE_WALL)) {
+        continue;
+      }
+      if ((room.controller?.level ?? 0) < 6
+        && !(structures[getCoord(x, y)] == STRUCTURE_CONTAINER
+          || structures[getCoord(x, y)] == STRUCTURE_ROAD
+          || structures[getCoord(x, y)] == STRUCTURE_EXTENSION
+          || structures[getCoord(x, y)] == STRUCTURE_RAMPART
+          || structures[getCoord(x, y)] == STRUCTURE_TOWER
+          || structures[getCoord(x, y)] == STRUCTURE_WALL
+          || structures[getCoord(x, y)] == STRUCTURE_STORAGE)) {
+        continue;
+      }
+      if ((room.controller?.level ?? 0) < 8
+        && !(structures[getCoord(x, y)] == STRUCTURE_CONTAINER
+          || structures[getCoord(x, y)] == STRUCTURE_ROAD
+          || structures[getCoord(x, y)] == STRUCTURE_EXTENSION
+          || structures[getCoord(x, y)] == STRUCTURE_RAMPART
+          || structures[getCoord(x, y)] == STRUCTURE_TOWER
+          || structures[getCoord(x, y)] == STRUCTURE_WALL
+          || structures[getCoord(x, y)] == STRUCTURE_STORAGE
+          || structures[getCoord(x, y)] == STRUCTURE_EXTRACTOR)) {
+        continue;
+      }
+      if (structures[getCoord(x, y)] != null) {
+        if (room.createConstructionSite(x, y, structures[getCoord(x, y)])
+          === ERR_FULL) {
+          return;
+        }
+      }
+    }
+  }
+}
+
+export default profiler.registerFN(function RoomPlanner(room: Room) {
+  if (room.controller == null || !room.controller.my) {
+    return;
+  }
+  if (Game.cpu.bucket < 100 && room.name != "sim") {
+    return;
+  }
+  if (room.name != "sim" && Game.time % 113 !== 0) {
+    return;
+  }
+  if (room.memory._planner != null) {
+    createBuildSites(room);
+    return;
+  }
+  const terrain = room.getTerrain();
+  let mask: number[] = new Array(roomSize * roomSize).fill(0);
+  for (let x = 0; x < roomSize; x++) {
+    for (let y = 0; y < roomSize; y++) {
+      mask[getCoord(x, y)] = terrain.get(x, y);
+    }
+  }
+  const wallDistance = distanceTransform(
+    mask.map((t) => t === TERRAIN_MASK_WALL ? 0 : UNSET));
+  const controllerCoord =
+    (room.controller?.pos.x ?? 0) + (room.controller?.pos.y ?? -1) * roomSize;
+  const controllerDistance = distanceTransform(
+    mask.map((t, i) =>
+      i === controllerCoord ? 0 : (
+        t === TERRAIN_MASK_WALL ? OBSTACLE : UNSET
+      ))
+  );
+  const buildCenter = wallDistance.map(
+    (x, i) => [x * 2.5 - controllerDistance[i], i]).sort(
+    (a, b) => b[0] - a[0])[0][1];
+  const buildCenterX = buildCenter % roomSize;
+  const buildCenterY = Math.floor(buildCenter / roomSize);
+  const buildCenterPos = room.getPositionAt(buildCenterX, buildCenterY)!;
+  /* room.visual.rect(buildCenterX - 0.5, buildCenterY - 0.5, 1, 1, {
+    stroke: "#FF0000",
+  }); */
+
+  //
+  // Build structures
+  //
+
+  let structures: (BuildableStructureConstant | null)[]
+    = new Array(roomSize * roomSize);
+
+  // Build Roads + Containers
+  const roadTargets = (room.sources as (_HasRoomPosition | null)[])
+    .concat([room.controller, room.mineral])
+    .concat([room.find(FIND_EXIT_TOP)?.[0],
+      room.find(FIND_EXIT_LEFT)?.[0],
+      room.find(FIND_EXIT_RIGHT)?.[0],
+      room.find(FIND_EXIT_BOTTOM)?.[0]]
+      .map((pos) => pos == null ? null : ({ pos, highRange: true })));
+  for (let target of roadTargets) {
+    if (target == null) { continue; }
+    const { path } = PathFinder.search(buildCenterPos,
+      { pos: target.pos, range: "highRange" in target ? 3 : 1 }, {
+      swampCost: 10,
+      plainCost: 2,
+      roomCallback: function(roomName) {
+        if (roomName != room.name) {
+          return false;
+        }
+
+        let costs = new PathFinder.CostMatrix;
+        for (let x = 0; x < roomSize; x++) {
+          for (let y = 0; y < roomSize; y++) {
+            if (structures[getCoord(x, y)] === STRUCTURE_ROAD) {
+              costs.set(x, y, 1);
+            }
+          }
+        }
+        return costs;
+      }
+    });
+    for (let i = 0; i < path.length; i++) {
+      const pos = path[i];
+      structures[getCoord(pos.x, pos.y)]
+        = (i === path.length - 1 && "energy" in target)
+          ? STRUCTURE_CONTAINER : STRUCTURE_ROAD;
+    }
+  }
+
+  // Build Core
+  for (let dx = -2; dx < 3; dx++) {
+    for (let dy = -2; dy < 3; dy++) {
+      structures[getCoord(buildCenterX + dx, buildCenterY + dy)]
+        = STRUCTURE_ROAD;
+    }
+  }
+  structures[getCoord(buildCenterX, buildCenterY)] = STRUCTURE_RAMPART;
+  structures[getCoord(buildCenterX + 1, buildCenterY)] = STRUCTURE_STORAGE;
+  structures[getCoord(buildCenterX + 1, buildCenterY - 1)] = STRUCTURE_TERMINAL;
+  structures[getCoord(buildCenterX, buildCenterY - 1)] = STRUCTURE_LINK;
+  structures[getCoord(buildCenterX - 1, buildCenterY - 1)] = STRUCTURE_FACTORY;
+  structures[getCoord(buildCenterX - 1, buildCenterY)] = STRUCTURE_NUKER;
+  structures[getCoord(buildCenterX - 1, buildCenterY + 1)] = STRUCTURE_SPAWN;
+  structures[getCoord(buildCenterX, buildCenterY + 1)] = STRUCTURE_POWER_SPAWN;
+  structures[getCoord(buildCenterX + 1, buildCenterY + 1)] = STRUCTURE_ROAD;
+
+  // Labs
+  const coreCorners = [
+    [buildCenterX - 2, buildCenterY - 2],
+    [buildCenterX - 2, buildCenterY + 2],
+    [buildCenterX + 2, buildCenterY - 2],
+    [buildCenterX + 2, buildCenterY + 2],
+  ].map(([x, y]) => [x, y, controllerDistance[x + y * roomSize]]
+  ).sort(([_x, _y, i], [_x2, _y2, j]) => i - j);
+
+  for (let [x, y, i] of coreCorners) {
+    const directionX = (x - buildCenterX) / Math.abs(x - buildCenterX);
+    const directionY = (y - buildCenterY) / Math.abs(y - buildCenterY);
+    let ok = true;
+    s: for (let dx = 0; Math.abs(dx) < 4; dx += directionX) {
+      for (let dy = 0; Math.abs(dy) < 4; dy += directionY) {
+        if ((structures[getCoord(x + dx, y + dy)] == null
+            || structures[getCoord(x + dx, y + dy)] === STRUCTURE_ROAD)
+          && mask[getCoord(x + dx, y + dy)] === 0) {
+          continue;
+        }
+        ok = false;
+        break s;
+      }
+    }
+    if (ok) {
+      for (let dx = 0; Math.abs(dx) < 5; dx += directionX) {
+        for (let dy = 0; Math.abs(dy) < 5; dy += directionY) {
+          if (Math.abs(dx) == Math.abs(dy)) {
+            structures[getCoord(x + dx, y + dy)] = STRUCTURE_ROAD;
+            continue;
+          }
+          if (Math.abs(dx) === 4 || Math.abs(dy) === 4) {
+            if (mask[getCoord(x + dx, y + dy)] === 0) {
+              structures[getCoord(x + dx, y + dy)] = STRUCTURE_ROAD;
+            }
+          }
+          if (!(dx === 0 && Math.abs(dy) === 3)
+              && !(dy === 0 && Math.abs(dx) === 3)) {
+            structures[getCoord(x + dx, y + dy)] = STRUCTURE_LAB;
+          }
+        }
+      }
+      break;
+    }
+  }
+
+  // Extensions
+  let extensions = 0;
+  a: for (let dx = 0; dx < roomSize / 2; dx++) {
+    for (let dy = 0; dy < wallDistance[getCoord(buildCenterX, buildCenterY)]; dy++) {
+      for (let cardinal = 0; cardinal < 4; cardinal++) {
+        const x = cardinal < 2 ? buildCenterX + dx : buildCenterX - dx;
+        const y = cardinal % 2 == 0 ? buildCenterY + dy : buildCenterY - dy;
+        if (extensions >= 60) {
+          break a;
+        }
+        if (structures[getCoord(x, y)] == null
+           && (mask[getCoord(x, y)] === 0
+             || mask[getCoord(x, y)] === TERRAIN_MASK_SWAMP)) {
+          let ok = false;
+          s: for (let ddx = -1; ddx < 2; ddx++) {
+            for (let ddy = -1; ddy < 2; ddy++) {
+              if (structures[getCoord(x + ddx, y + ddy)] === STRUCTURE_ROAD) {
+                ok = true;
+                break s;
+              }
+            }
+          }
+          if (ok) {
+            if (x % 2 == y % 3 || x % 3 == y % 2) {
+              structures[getCoord(x, y)] = STRUCTURE_ROAD;
+            } else {
+              structures[getCoord(x, y)] = STRUCTURE_EXTENSION;
+              extensions++;
+            }
+          }
+        }
+      }
+    }
+  }
+
+  if (room.mineral != null) {
+    structures[getCoord(room.mineral.pos.x, room.mineral.pos.y)]
+      = STRUCTURE_EXTRACTOR;
+  }
+
+  // Walls
+  let smallestX = roomSize;
+  let largestX = 0;
+  let smallestY = roomSize;
+  let largestY = 0;
+  for (let x = 0; x < roomSize; x++) {
+    for (let y = 0; y < roomSize; y++) {
+      if (structures[getCoord(x, y)] != null
+          && structures[getCoord(x, y)] != STRUCTURE_ROAD
+          && structures[getCoord(x, y)] != STRUCTURE_CONTAINER) {
+        if (x < smallestX) {
+          smallestX = x;
+        }
+        if (x > largestX) {
+          largestX = x;
+        }
+        if (y < smallestY) {
+          smallestY = y;
+        }
+        if (y > largestY) {
+          largestY = y;
+        }
+      }
+    }
+  }
+
+  smallestX = Math.max(2, smallestX - 3);
+  smallestY = Math.max(2, smallestY - 3);
+  largestX = Math.min(48, largestX + 3);
+  largestY = Math.min(48, largestY + 3);
+
+  const centerLine = Math.floor(largestY / 2 + smallestY / 2);
+
+  const { path } = PathFinder.search(
+    room.getPositionAt(smallestX - 1, centerLine + 1)!,
+    room.getPositionAt(smallestX - 1, centerLine - 1)!,
+    {
+      plainCost: 100,
+      swampCost: 100,
+
+      roomCallback: function(roomName) {
+        if (roomName != room.name) {
+          return false;
+        }
+
+        let costs = new PathFinder.CostMatrix;
+        for (let x = 0; x < roomSize; x++) {
+          for (let y = 0; y < roomSize; y++) {
+            if (mask[getCoord(x, y)] === TERRAIN_MASK_WALL) {
+              costs.set(x, y, 1);
+            }
+            if (structures[getCoord(x, y)] != null) {
+              if (structures[getCoord(x, y)] == STRUCTURE_ROAD) {
+                costs.set(x, y, 254);
+              } else {
+                costs.set(x, y, 255);
+              }
+            }
+          }
+        }
+        for (let x = smallestX; x <= largestX; x++) {
+          for (let y = smallestY; y <= largestY; y++) {
+            costs.set(x, y, 255);
+          }
+        }
+        for (let x = 0; x < smallestX; x++) {
+          costs.set(x, centerLine, 255);
+        }
+
+        return costs;
+      },
+    });
+
+  path.push(room.getPositionAt(smallestX - 1, centerLine)!);
+  for (let i = 0; i < path.length; i++) {
+    let s = structures[getCoord(path[i].x, path[i].y)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x + 1, path[i].y)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x - 1, path[i].y)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x + 1, path[i].y + 1)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x + 1, path[i].y - 1)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x - 1, path[i].y + 1)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x - 1, path[i].y - 1)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x, path[i].y + 1)] === STRUCTURE_ROAD
+      || structures[getCoord(path[i].x, path[i].y - 1)] === STRUCTURE_ROAD
+      ? STRUCTURE_RAMPART
+      : STRUCTURE_WALL;
+    if (mask[getCoord(path[i].x, path[i].y)] != TERRAIN_MASK_WALL) {
+      structures[getCoord(path[i].x, path[i].y)] = s;
+    } else {
+      continue;
+    }
+    if (mask[getCoord(path[i].x+1, path[i].y)] != TERRAIN_MASK_WALL
+      && structures[getCoord(path[i].x+1, path[i].y)] != STRUCTURE_RAMPART) {
+      structures[getCoord(path[i].x+1, path[i].y)] = s;
+    }if (mask[getCoord(path[i].x-1, path[i].y)] != TERRAIN_MASK_WALL
+      && structures[getCoord(path[i].x-1, path[i].y)] != STRUCTURE_RAMPART) {
+      structures[getCoord(path[i].x-1, path[i].y)] = s;
+    }if (mask[getCoord(path[i].x, path[i].y+1)] != TERRAIN_MASK_WALL
+      && structures[getCoord(path[i].x, path[i].y+1)] != STRUCTURE_RAMPART) {
+      structures[getCoord(path[i].x, path[i].y+1)] = s;
+    }if (mask[getCoord(path[i].x, path[i].y-1)] != TERRAIN_MASK_WALL
+      && structures[getCoord(path[i].x, path[i].y-1)] != STRUCTURE_RAMPART) {
+      structures[getCoord(path[i].x, path[i].y-1)] = s;
+    }
+  }
+
+
+  // Render
+  // renderHeatmap(controllerDistance, room.visual);
+  /* for (let x = 0; x < roomSize; x++) {
+    for (let y = 0; y < roomSize; y++) {
+      if (structures[getCoord(x, y)] != null) {
+        room.visual.structure(x, y, structures[getCoord(x, y)]);
+      }
+    }
+  }
+  room.visual.connectRoads(); */
+
+  let str = "";
+  for (let i = 0; i < structures.length; i += 2) {
+    str += String.fromCharCode(32 +
+      (structureCoding.findIndex((s) => s == structures[i]))
+      + (structureCoding.findIndex((s) => s == structures[i + 1]) << 5)
+      );
+  }
+
+  room.memory._planner = str;
+});
diff --git a/src/Tasks/Build.ts b/src/Tasks/Build.ts
index b7b6791..46c49b7 100644
--- a/src/Tasks/Build.ts
+++ b/src/Tasks/Build.ts
@@ -16,7 +16,7 @@ export const runBuild = profiler.registerFN((creep: Creep): TaskStatus => {
     return TaskStatus.DONE;
   }
 
-  if (creep.store.getUsedCapacity(RESOURCE_ENERGY) === 0) {
+  if (creep.store.energy === 0) {
     return TaskStatus.DONE;
   }
 
@@ -28,7 +28,6 @@ export const runBuild = profiler.registerFN((creep: Creep): TaskStatus => {
   if (target == null
     || creep.build(target) === ERR_NOT_IN_RANGE) {
     creep.travelTo(task.targetPos);
-    return TaskStatus.IN_PROGRESS;
   }
-  return TaskStatus.DONE;
+  return TaskStatus.IN_PROGRESS;
 }, "runBuild");
diff --git a/src/Tasks/Pickup.ts b/src/Tasks/Pickup.ts
new file mode 100644
index 0000000..1737689
--- /dev/null
+++ b/src/Tasks/Pickup.ts
@@ -0,0 +1,35 @@
+import { TaskData, TaskStatus, TaskType } from "./Task";
+
+export const Pickup
+  = (target: Resource): TaskData => ({
+    target,
+    targetPos: target.pos,
+    type: TaskType.Pickup,
+    options: {},
+    data: { resource: target.resourceType },
+  });
+
+export const runPickup = (creep: Creep): TaskStatus => {
+  const task = creep.task;
+  if (task == null) {
+    return TaskStatus.DONE;
+  }
+  if (task.target == null && task.targetPos.roomName == creep.room.name) {
+    return TaskStatus.DONE;
+  }
+
+  const target = task.target as Resource;
+  const resource: ResourceConstant
+    = (task.data as { resource: ResourceConstant }).resource;
+
+  if (creep.store.getFreeCapacity(resource) == 0) {
+    return TaskStatus.DONE;
+  }
+
+  if (target == null
+    || creep.pickup(target) === ERR_NOT_IN_RANGE) {
+    creep.travelTo(task.targetPos);
+    return TaskStatus.IN_PROGRESS;
+  }
+  return TaskStatus.DONE;
+};
diff --git a/src/Tasks/Task.ts b/src/Tasks/Task.ts
index c4ea1ea..9043477 100644
--- a/src/Tasks/Task.ts
+++ b/src/Tasks/Task.ts
@@ -1,5 +1,5 @@
 import {
-  packId, packPos, unpackId, unpackPos,
+  packPos, unpackPos,
 } from "../../deps/screeps-packrat/src/packrat";
 
 export enum TaskType {
@@ -9,6 +9,7 @@ export enum TaskType {
   Transfer,
   Build,
   Repair,
+  Pickup
 }
 
 export enum TaskStatus {
diff --git a/src/Tasks/Withdraw.ts b/src/Tasks/Withdraw.ts
index ad4fd6f..c78c999 100644
--- a/src/Tasks/Withdraw.ts
+++ b/src/Tasks/Withdraw.ts
@@ -30,6 +30,9 @@ export const runWithdraw = (creep: Creep): TaskStatus => {
   if (task == null) {
     return TaskStatus.DONE;
   }
+  if (task.target == null && task.targetPos.roomName == creep.room.name) {
+    return TaskStatus.DONE;
+  }
 
   const target = task.target as Structure | Tombstone | Ruin;
   const opts = task.options as WithdrawOptions;
diff --git a/src/Tasks/index.ts b/src/Tasks/index.ts
index 8df88c2..cdebb87 100644
--- a/src/Tasks/index.ts
+++ b/src/Tasks/index.ts
@@ -7,6 +7,7 @@ import { runTransfer, Transfer } from "./Transfer";
 import { Build, runBuild } from "./Build";
 import { Repair, runRepair } from "./Repair";
 import profiler from "screeps-profiler";
+import { Pickup, runPickup } from "./Pickup";
 export { TaskType, TaskStatus } from "./Task";
 
 declare global {
@@ -29,6 +30,8 @@ const runTask = profiler.registerFN((creep: Creep): TaskStatus => {
       return runBuild(creep);
     case TaskType.Repair:
       return runRepair(creep);
+    case TaskType.Pickup:
+      return runPickup(creep);
     default:
       return TaskStatus.DONE;
   }
@@ -45,12 +48,16 @@ Creep.prototype.run = function (generator?: (creep: Creep) => TaskData | null) {
   }
 };
 
-export default profiler.registerObject({
+const Tasks = {
   Harvest,
   Upgrade,
   Withdraw,
   Transfer,
   Build,
   Repair,
+  Pickup,
   ...TaskStatus,
-}, "Tasks");
+};
+profiler.registerObject(Tasks, "Tasks");
+
+export default Tasks;
diff --git a/src/Actions/Util.ts b/src/Workers/Util.ts
similarity index 90%
rename from src/Actions/Util.ts
rename to src/Workers/Util.ts
index 7e53c44..8410165 100644
--- a/src/Actions/Util.ts
+++ b/src/Workers/Util.ts
@@ -1,13 +1,3 @@
-import { Action, Fail } from "../Actions/Action";
-
-export const notNull
-  = <T>(x: T | null | undefined, f: (y: T) => Action): Action => {
-    if (x == null) {
-      return Fail;
-    }
-    return f(x);
-  };
-
 export const closestTowerToFill = (pos: RoomPosition): StructureTower | null =>
   pos.findClosestByRange(FIND_MY_STRUCTURES, {
     filter: structure => structure.structureType === STRUCTURE_TOWER
diff --git a/src/screeps-profiler.d.ts b/src/screeps-profiler.d.ts
deleted file mode 100644
index d6d2261..0000000
--- a/src/screeps-profiler.d.ts
+++ /dev/null
@@ -1,7 +0,0 @@
-declare module "screeps-profiler" {
-  export const registerFN: <T extends Function>(f: T, n?: string) => T;
-  export const registerObject: <T extends Object>(f: T, n?: string) => T;
-  export const registerClass: <T extends Object>(f: T, n?: string) => T;
-  export const enable: () => void;
-  export const wrap: (f: () => void) => () => void;
-};