     }
     open.erase(open.begin() + index);
     closed.push_back(currentNode);
-    printnode(currentNode);
+   // printnode(currentNode);
     if(currentNode == targetNode){
       RetracePath(startNode, targetNode);
       return;

  vector<struct node *> path;
  struct node *currentNode = endNode;

  // TODO WTF DO WE IF THERES NO PATH BRAH
  while(currentNode != startNode){
    path.push_back(currentNode);
    currentNode = currentNode->parent;
  Serial.print("[");

    int gcost;
    int hcost;
    bool walkable;
    bool in_path;
    struct node* parent;
  };

