public void generateSetPath() {
		double currentX = this.startX;
		double currentY = this.startY;
		double tempY = this.widthY;
		int i;
		if (currentX < (this.widthX) / 2) {
			i = 0;
		} else {
			i = 1;
		}
		// pushes points in reverse order from the opposite corner into the robot in an s pattern 
		// while ignoring redzones
		while (tempY >= 0) {
			if (i % 2 == 0) {
				for (int j = (int) this.widthX; j >= 0; j--) {
					this.currentStack.push(new Point((j), Math.abs(currentY
							- tempY), false));
				}
			} else {
				for (int j = 0; j <= (int) this.widthX; j++) {
					this.currentStack.push(new Point((j), Math.abs(currentY
							- tempY), false));
				}
			}
			tempY--;
			i++;

		}
	}