def ia(self,x,y):
    if self.f:
        while True:
            d = randint(0,3)
            dx, dy = ((-0.1,0),(0,-0.1),(0,0.1),(0.1,0))[d]
            if d != (3,2,1,0)[self.d] and self.espace(dx,dy):
                self.d = d
                break
    else:
        distances = [9999 for _ in range(4)]
        for i in range(4):
            if i != (3,2,1,0)[self.d]:
                dx, dy = ((-0.1,0),(0,-0.1),(0,0.1),(0.1,0))[i]
                if self.espace(dx,dy):
                    distances[i] = sqrt((self.y + dy - y)**2 + (self.x + dx - x)**2)
        self.d = distances.index(min(distances))