download a pre-compiled graph here (place in same folder as script): https://drive.google.com/file/d/1vno0I6F3jE5Tpn2JYFljKEE0he6uw7lV/view?usp=sharing (max 28 ess turns in a single run)
modify starting_angles to have accessible angles (usually cardinals and nearby walls)
modify destination_angles with any angle you'd like to find (will change this later to find all instead of stop of first find)
modify types with the allowed movement options
modify max_ess to what you'd like to do max per section of a setup