diff --git a/organism/src/main.cpp b/organism/src/main.cpp
index b37f71e..c078de0 100644
--- a/organism/src/main.cpp
+++ b/organism/src/main.cpp
@@ -48,6 +48,19 @@ typedef struct {
   int y_coords[BLOB_POINTS];
 } Blob;
 
+
+#define NUM_AGENTS 64
+#define AGENT_MOVE_DISTANCE 1
+#define AGENT_DROP_AMOUNT 100
+typedef struct {
+  int x_position;
+  int y_position;
+  float heading;
+} SlimeAgent;
+
+uint16_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
+SlimeAgent agents[NUM_AGENTS];
+
 Blob blob;
 
 void setup(){
@@ -72,13 +85,23 @@ void setup(){
   matrix->setBrightness8(64);
   matrix->fillScreenRGB888(0, 0, 0);
 
-  for(int i = 0; i < BLOB_POINTS; i++) {
-    //float angle = (360 / BLOB_POINTS) * (i+1);
-    float angle = ((PI * 2) / BLOB_POINTS) * (i+1);
-    blob.x_coords[i] = random(-6, 7) + 31 + round(BLOB_RADIUS * sin(angle));
-    blob.y_coords[i] = random(-2, 7) + 15 + round(BLOB_RADIUS * cos(angle));
-    //blob.x_coords[i] = random(0, 64);
-    //blob.y_coords[i] = random(0, 32);
+  //for(int i = 0; i < BLOB_POINTS; i++) {
+  //  //float angle = (360 / BLOB_POINTS) * (i+1);
+  //  float angle = ((PI * 2) / BLOB_POINTS) * (i+1);
+  //  blob.x_coords[i] = random(-6, 7) + 31 + round(BLOB_RADIUS * sin(angle));
+  //  blob.y_coords[i] = random(-2, 7) + 15 + round(BLOB_RADIUS * cos(angle));
+  //  //blob.x_coords[i] = random(0, 64);
+  //  //blob.y_coords[i] = random(0, 32);
+  //}
+  for(int a = 0; a < NUM_AGENTS; a++) {
+    agents[a].x_position = random(12, 52);
+    agents[a].y_position = random(12, 20);
+    agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
+  }
+  for(int x = 0; x<PANEL_WIDTH; x++) {
+    for(int y = 0; y<PANEL_HEIGHT; y++){
+      attractant[x][y] = 0;
+    }
   }
 }
 
@@ -107,6 +130,9 @@ void draw_bezier(int x1, int y1, int x2, int y2, int x3, int y3) {
 }
 
 
+bool is_in_bounds(int x, int y) {
+  return (x < PANEL_WIDTH) and (y < PANEL_HEIGHT) and (x >= 0) and (y >= 0);
+}
 
 void loop() {
   matrix ->flipDMABuffer();
@@ -125,31 +151,74 @@ void loop() {
     matrix->drawFastHLine(0, 7*i + 1, PANEL_WIDTH, matrix->color565(41, 17, 76));
   }
 
-  for(int i = 0; i < BLOB_POINTS; i+=2) {
-    int end_offset = i + 2;
-    if ( end_offset >= BLOB_POINTS) {
-      end_offset = 0;
+  for(int x = 0; x<PANEL_WIDTH; x++) {
+    for(int y = 0; y<PANEL_HEIGHT; y++){
+      matrix->drawPixel(x, y, attractant[x][y]);
     }
-    draw_bezier(blob.x_coords[i],
-        blob.y_coords[i],
-        blob.x_coords[i+1],
-        blob.y_coords[i+1],
-        blob.x_coords[end_offset],
-        blob.y_coords[end_offset]
-    );
-    matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(128, 128, 128));
-    blob.x_coords[i+1] += random(-1, 2);
-    if (blob.x_coords[i+1] >= PANEL_WIDTH) {
-      blob.x_coords[i+1] = PANEL_WIDTH - 1;
-    }
-    if (blob.x_coords[i+1] < 0) {
-      blob.x_coords[i+1] = 0;
-    }
-    //blob.y_coords[i+1] += random(-1, 2);
-    //matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(0, 0, 128));
-    //matrix->drawPixel(blob.x_coords[i+1], blob.y_coords[i+1], matrix->color565(128, 0, 0));
-    //matrix->drawPixel(blob.x_coords[end_offset], blob.y_coords[end_offset], matrix->color565(0, 0, 128));
   }
-  delay(500);
+
+  for(int a = 0; a < NUM_AGENTS; a++) {
+    matrix->drawPixel(agents[a].x_position, agents[a].y_position, attractant[agents[a].x_position][agents[a].y_position]);
+    // motor step
+    // check if agent can move forward
+    float target_x = agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE;
+    float target_y = agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE;
+    int move_x = round(target_x);
+    int move_y = round(target_y);
+    if (is_in_bounds(move_x, move_y)) {
+      agents[a].x_position = move_x;
+      agents[a].y_position = move_y;
+      attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
+    } else {
+      agents[a].heading += (random(0,2) *2 -1 ) * (random(0, 30) / 100.0) * PI*2;
+    }
+    // sample step
+    int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE);
+    int front_y = round(agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE);
+    int left_x = round(agents[a].x_position + cos(agents[a].heading - ((random(0,30) / 100.0) * (PI * 2))));
+    int left_y = round(agents[a].y_position + cos(agents[a].heading - ((random(0,30) / 100.0) * (PI * 2))));
+    int right_x = round(agents[a].x_position + cos(agents[a].heading + ((random(0,30) / 100.0) * (PI * 2))));
+    int right_y = round(agents[a].y_position + cos(agents[a].heading + ((random(0,30) / 100.0) * (PI * 2))));
+    int front_value = attractant[front_x][front_y];
+    int left_value = attractant[left_x][left_y];
+    int right_value = attractant[right_x][right_y];
+    if (front_value > right_value and front_value > left_value) {
+      ;
+    } else if (front_value < right_value and front_value < left_value) {
+      agents[a].heading += (random(0, 2) * 2 - 1) * (random(0, 30) / 100.0) * (PI*2) ;
+    } else if (left_value > right_value) {
+      agents[a].heading -= ((random(0,30) / 100.0) * (PI * 2));
+    } else {
+      agents[a].heading += ((random(0,30) / 100.0) * (PI * 2));
+    }
+  }
+
+
+  //for(int i = 0; i < BLOB_POINTS; i+=2) {
+  //  int end_offset = i + 2; 
+  //  if ( end_offset >= BLOB_POINTS) {
+  //    end_offset = 0;
+  //  }
+  //  draw_bezier(blob.x_coords[i],
+  //      blob.y_coords[i],
+  //      blob.x_coords[i+1],
+  //      blob.y_coords[i+1],
+  //      blob.x_coords[end_offset],
+  //      blob.y_coords[end_offset]
+  //  );
+  //  matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(128, 128, 128));
+  //  blob.x_coords[i+1] += random(-1, 2);
+  //  if (blob.x_coords[i+1] >= PANEL_WIDTH) {
+  //    blob.x_coords[i+1] = PANEL_WIDTH - 1;
+  //  }
+  //  if (blob.x_coords[i+1] < 0) {
+  //    blob.x_coords[i+1] = 0;
+  //  }
+  //  //blob.y_coords[i+1] += random(-1, 2);
+  //  //matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(0, 0, 128));
+  //  //matrix->drawPixel(blob.x_coords[i+1], blob.y_coords[i+1], matrix->color565(128, 0, 0));
+  //  //matrix->drawPixel(blob.x_coords[end_offset], blob.y_coords[end_offset], matrix->color565(0, 0, 128));
+  //}
+  delay(100);
 }