board

@@ -172,6 +172,34 @@ class Node:  #prawie jak Field w bfs
         self.action = action
 
 
+def succ1(state):
+    successors = []#-90 obrót w lewo, +90 obrót w prawo
+    print(state[0])#operujemy na 0, 90, 180, 270
+    print(state[1])
+    right = state[2] + 90
+    successors.append((("turn", "right"), (state[0], state[1], right)))
+    left = state[2] - 90
+    successors.append((("turn", "left"), (state[0], state[1], left)))
+    if state[2] == 360:
+        state[2] = 0
+    if state[2] == -90:
+        state[2] = 270
+    if (state[0], state[1]) not in black_list:#działa
+        if state[2] == 0 and state[0] < 14:
+            new_x = state[0]+1
+            successors.append((("move forward"), (new_x, state[1], state[2])))
+        elif state[2] == 90 and state[1] > 0:
+            new_y = state[1]-1
+            successors.append((("move forward"), (state[0], new_y, state[2])))
+        elif state[2] == 180 and state[0] > 0:
+            new_x = state[0]-1
+            successors.append((("move forward"), (new_x, state[1], state[2])))
+        elif state[2] == 270 and state[1] < 14:
+            new_y = state[1]+1
+            successors.append((("move forward"), (state[0], new_y, state[2])))
+    return successors
+
+
 def algorithm():
     opened = PriorityQueue()#może być też lista
     closed = []#już odwiedzone, odrzucone wierzchołki
@@ -187,8 +215,8 @@ def algorithm():
 
     a = final_state[0]
     b = final_state[1]
-    hole = Hole("astar", Position(a, b))#narysowana dziura w miejscu mety(celu), by sprawdzić, czy działa
-    objectArray.append(hole)
+    #hole = Hole("astar", Position(a, b))#narysowana dziura w miejscu mety(celu), by sprawdzić, czy działa
+    #objectArray.append(hole)
 
 
 if __name__ == '__main__':