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small goals, what is a goal?

I offer myself a small reward for a small goal
the goals become the rewards
the goal usually is a need so the means justifies the end
the work is necessary and unavoidable
--unless it is
my goals tend to autoregulate; complete or discard
but I dont even understand how to set a goal.
my goals tend to fail easily
I exercise alot. I easily convince myself to exercise, running, and that it's its own reward
but I will not allow a routine or schedule to motivate me
my self rewards are usually ad hoc and spur of the moment
seems like self-control is the element, so how can I reward myself for that?