You can find the source codes here

In the main folder:
PP.java : can be run for calculations and transformation from board locations to robot angles.
IK.java: responsible for inverse kinematics, taken from our previous project
FinalHorseII.java: can be run for calculations
FinalHorse.java: responsible for the depth-first search algorithm
HorsePoint.java: The node class, also containing methods to find follow-up nodes
Graphical.java: Can be run. Responsible for GUI-animation

This folder also contains several class-files used by PP.java and IK.java (PP and IK are taken from our previous project), and several boardfiles, and files used to write UMIRTX-instructions to.
The FinalHorse-files, HorsePoint and Graphical are 100% written by ourselves. These files are also completely documented. (PP and IK are not).
Ofcourse the depth-first search is a long known search method. We have however completely written our own implementation of it. Thus we have not used an already written implentation of it (which probably exist).

In the 3d-horse folder:
FinalHorse.java, FinalHorseII.java and HorsePoint.java

These files are editted to calculate solutions for 3d-boards. These are however not part of our official project, so don't expect documentation about all the changes made. FinalHorseII can be run for calculations.