How do I run this project?

[PiBigStar5712]

Because the project lacks a lot of comments, I can't easily understand the code.In pathplanning.py I want to use my own map for path planning and use my own starting and ending points. I also want to be able to use some of the colors I specify to mark the starting point, the ending point, the programmed path, and the path already traveled. By doing so, I can clearly see the program in action. So how do I use and modify this code? Looking forward to your reply.