Finally

#Region "Path Finding"

    Public OpenList As New List(Of Node)
    Public ClosedList As New List(Of Node)

    Public Structure State
        Dim X, Y As Integer
    End Structure

    Public Class Node

        Public Self As State 'the location of this node
        Public Parent As Node  'the location of this nodes parent
        Public F, G, H As Integer

        Sub Clear()
            Self.X = 0
            Self.Y = 0
            Parent = Nothing
            F = 0
            G = 0
            H = 0
        End Sub

        Sub GetScores(TargetX As Integer, TargetY As Integer)

            Dim dx, dy As Integer

            'Console.Title = "Parent : " & Parent.Self.X & "," & Parent.Self.Y & _
            '                "Target : " & TargetX & "," & TargetY

            dx = Self.X - Parent.Self.X
            dy = Self.Y - Parent.Self.Y

            'check if movement type
            If dx = 1 And dy <> Self.Y Then
                G = 14 + Parent.G
            ElseIf dx = -1 And dy <> Self.Y Then
                G = 14 + Parent.G
            Else
                G = 10 + Parent.G
            End If

            'block-method heuristic (vertical/horizontal movement only)
            dx = Math.Abs(TargetX - Self.X)
            dy = Math.Abs(TargetY - Self.Y)

            H = (dx + dy) * 10

            'total score
            F = G + H

            'Write(2, 2, "GetScores(       )", ConsoleColor.Yellow)
            'Write(2, 13, TargetX & "," & TargetY, ConsoleColor.Cyan)

            'Write(4, 4, "G:", ConsoleColor.Yellow)
            'Write(5, 4, "H:", ConsoleColor.Yellow)
            'Write(6, 4, "F:", ConsoleColor.Yellow)

            'Write(4, 7, G, ConsoleColor.Cyan)
            'Write(5, 7, H, ConsoleColor.Cyan)
            'Write(6, 7, F, ConsoleColor.Cyan)

            'Console.ReadKey()
            'Console.Clear()

        End Sub

    End Class

    Public Sub Path(StartX As Integer, StartY As Integer, _
                    EndX As Integer, EndY As Integer)

        Dim CurrentX, CurrentY, CurrentG, intIndex As Integer
        Dim InList As Boolean = False
        Dim FirstNode As New Node

        'the first node in the closed list is the starting position
        With FirstNode
            .Self.X = StartX
            .Self.Y = StartY
            .Parent = FirstNode
            .GetScores(EndX, EndY)
        End With

        ClosedList.Add(FirstNode)

        CurrentX = StartX
        CurrentY = StartY

        intIndex = 0

        Do While True

            Dim TempNode, LowNode As New Node

            With TempNode
                .Clear()
                .Self.X = CurrentX
                .Self.Y = CurrentY
                .G = CurrentG
            End With

            If CurrentX = EndX And CurrentY = EndY Then

                For Each Node In ClosedList

                    'output the path (backwards i think?)
                    Write((intIndex + 2), 2, Node.Self.X, ConsoleColor.Green)
                    Write((intIndex + 3), 2, Node.Self.Y, ConsoleColor.Green)

                    intIndex = intIndex + 1

                    Console.ReadKey()
                    Console.Clear()

                Next

            Else

                'add neighbors to the open list
                AddNeighbors(TempNode, EndX, EndY)

                'find the lowest node
                LowNode.F = 999999

                Dim bChanged As Boolean = True 'tracks if there was a change or not

                Do While bChanged = True 'cycle through until you make NO changes.

                    bChanged = False

                    For Each Node In OpenList

                        'Write(2, 2, Node.F, ConsoleColor.Cyan)
                        'Write(2, 5, "vs", ConsoleColor.Yellow)
                        ' Write(2, 8, LowNode.F, ConsoleColor.Cyan)

                        If Node.F < LowNode.F Then
                            LowNode = Node
                            bChanged = True
                            'Write(3, 2, "Changed.", ConsoleColor.Green)
                        End If
                        'Console.ReadKey()
                        'Console.Clear()
                    Next

                Loop

                'Write(2, 2, "Low Node", ConsoleColor.Yellow)

                'With LowNode
                'Write(4, 4, "X:", ConsoleColor.Yellow)
                'Write(5, 4, "Y:", ConsoleColor.Yellow)
                'Write(6, 4, "G:", ConsoleColor.Yellow)
                'Write(7, 4, "H:", ConsoleColor.Yellow)
                'Write(8, 4, "F:", ConsoleColor.Yellow)
                '
                'Write(4, 7, .Self.X, ConsoleColor.Cyan)
                'Write(5, 7, .Self.Y, ConsoleColor.Cyan)
                'Write(6, 7, .G, ConsoleColor.Cyan)
                'Write(7, 7, .H, ConsoleColor.Cyan)
                'Write(8, 7, .F, ConsoleColor.Cyan)
                'End With

                'Console.ReadKey()
                'Console.Clear()

                'remove from open list
                OpenList.Remove(LowNode)

                'check the closed list for this node
                For Each Node In ClosedList
                    If Node.Self.X = LowNode.Self.X And Node.Self.Y = LowNode.Self.Y Then
                        InList = True
                    End If
                Next

                'if its not in the list
                If Not InList Then

                    'add it to the list
                    ClosedList.Add(LowNode)

                    'set next node info
                    CurrentX = LowNode.Self.X
                    CurrentY = LowNode.Self.Y
                    CurrentG = LowNode.G

                End If

            End If
            '
        Loop

    End Sub

    'adds the neighbors of a cell to the open list
    Public Sub AddNeighbors(ThisNode As Node, TargetX As Integer, TargetY As Integer)

        Dim InList As Boolean = False

        Dim X, Y As Integer

        X = ThisNode.Self.X
        Y = ThisNode.Self.Y

        For intX = -1 To 1
            For intY = -1 To 1

                'skip intX=0,intY=0, it's always self, never a neighbour
                If intX = 0 And intY = 0 Then
                    Continue For
                End If

                'start by assuming a neighbour is not in the list until it is found
                InList = False

                'if the node is inside the map boundries
                If Not (X + intX) < 0 Then
                    If Not (Y + intY) < 0 Then

                        Dim TempNode As New Node

                        'set positions
                        TempNode.Self.X = X + intX
                        TempNode.Self.Y = Y + intY

                        'assign parent node
                        TempNode.Parent = ThisNode

                        'get this nodes scores
                        TempNode.GetScores(TargetX, TargetY)

                        'check the closed list for this node
                        For Each Node In ClosedList
                            If Node.Self.X = TempNode.Self.X And Node.Self.Y = TempNode.Self.Y Then
                                InList = True
                            End If
                        Next

                        'only check the open list if it wasn't in the closed list
                        If Not InList Then

                            For Each Node In OpenList

                                'if it's already in the list
                                If Node.Self.X = TempNode.Self.X And Node.Self.Y = TempNode.Self.Y Then

                                    'and it has a lower G score
                                    If TempNode.G < Node.G Then

                                        'update values
                                        InList = True
                                        Node.G = TempNode.G
                                        Node.H = TempNode.H
                                        Node.F = TempNode.F
                                        Node.Parent = ThisNode  'this is new parent
                                    End If

                                End If

                            Next

                            'if its not in either list, add it to the open list
                            If Not InList Then
                                OpenList.Add(TempNode)
                            End If

                        End If

                    End If

                End If

            Next

        Next

    End Sub

#End Region