constructor() {

    // A path has a radius, i.e how far is it ok for the vehicle to wander off

    this.radius = 10;

    // A Path is an array of points (p5.Vector objects)

    this.points = [];

    this.lights = [];

  }

​

  // Add a point to the path

  addPoint(x, y) {

    let point = createVector(x, y);

    this.points.push(point);

  }

​

  addLight(light){

    this.lights.push(light);

  }

  getStart() {

    return this.points[0];

  }

​

  getEnd() {

    return this.points[this.points.length - 1];

  }

  // Draw the path

  display() {

    //Draw light

    for(let l of this.lights){

      fill(255,0,0);

      circle(l.x,l.y-30,10);

    }

    // Draw thick line for radius

    stroke(99);

    strokeWeight(this.radius * 2);

    noFill();

    beginShape();

    for (let i = 0; i < this.points.length; i++) {

      vertex(this.points[i].x, this.points[i].y);

    }

    endShape();

    // Draw thin line for center of path

    stroke(255);

    strokeWeight(1);

    noFill();

    beginShape();

    for (let i = 0; i < this.points.length; i++) {

      vertex(this.points[i].x, this.points[i].y);

    }

    endShape();

  }

}