-//check out the pathfinding.cpp code in the repo for all comments and explanation. Im too lazy to transfer it over.
-
 #include <StandardCplusplus.h>
 #include <system_configuration.h>
 #include <unwind-cxx.h>

//  FindPath(0,0,10,10);
 // cout << "[""]" << "\n";

}



  open.push_back(startNode);
  //cout << open[0]->posy << "\n";

 

  while(open.size() > 0 ){
    //cout << "[2]" << "\n";
     
    struct node *currentNode = open[0];
    int index = 0;

    for (int i =1; i<open.size(); i++){
      Serial.println("HIIHIHIHIHIHI");
      if(fcost(open[i]) < fcost(currentNode) || fcost(open[i]) == fcost(currentNode) && open[i]->hcost < currentNode->hcost){
        currentNode = open[i];
        index = i;
