U = PriorityQ.PriorityQ() LpaStar = Algorithm.LPAStar(gridWorld, U, HEURISTIC) start = time.time() LpaStar.computeShortestPath() end = time.time() calcFirstSearch = end - start drawPath = True getAndRenderResults() alg = LpaStar.alg if event.key == pygame.K_F8: #Select D*Lite and run first search U = PriorityQ.PriorityQ() DStarLite = Algorithm.DStarLite(gridWorld, U, HEURISTIC) start = time.time() DStarLite.computeShortestPath() end = time.time() calcFirstSearch = end - start drawPath = True getAndRenderResults() alg = DStarLite.alg if event.key == pygame.K_RIGHT: #Move forwards through path #print("right arrow") if currRobotPos <= lenP - 1: currRobotPos += 1 getAndRenderResults()