anyone know how to use the Andrew Pye A* lib??

I suggest that you take a look at Turtle1776 excellent tutorial and sample code:

http://www.blitzcoder.com/cgi-bin/articles/show_article.pl?f=turtle177610292002201622.html

http://www.blitzcoder.com/cgi-bin/articles/show_article.pl?f=turtle177610292002202109.html