Please Note: You may need to click inside the applet for the buttons to work
There are 3 setup functions before the pathfinding program begins:

Obstacle setup: Press 'r' to randomize obstacles or 'n' to go to the next step
Target setup: Press 'r' to randomize the destination target or 'n' to go to the next step
Character setup: Press 'r' to randomize character placement or 'n' to start the pathfinding program