diff --git a/main.py b/main.py
index e402baa..988c84d 100644
--- a/main.py
+++ b/main.py
@@ -32,6 +32,9 @@ if __name__ == "__main__":
     # Dominik
     check = 0
     queue = []
+    fromBar = 0
+    barNode = (3, 12)
+    node = ()
 
     # Marcin Dobrowolski
     suggestionTreeRoot = SuggestionTree.buildTree(trainingData)
@@ -165,17 +168,31 @@ if __name__ == "__main__":
                     path = waiter.translatePath(path)
 
         # Dominik
-        if check == 1:
+       if path == '' and fromBar == 0 and check == 1:
             task = queue.pop(0)
-            goal = (task[2][0], task[2][1])
-            print(goal)
-            path = waiter.findPath(goal)
-            print(path)
+            tree.RemoveTask()
+            node = (task[2][0], task[2][1])
+            if task[0] == "goToBar":
+                path = waiter.findPath(barNode)
+                fromBar = 1
+            else:
+                path = waiter.findPath(node)
             path = waiter.translatePath(path)
-            print(path)
-            check = 0
+            if fromBar == 1:
+                check = 0
 
-        if len(queue) != 0 and check == 0 and path == '':
+        if path == '' and fromBar == 1:
+            path = waiter.findPath(node)
+            path = waiter.translatePath(path)
+            fromBar = 0
+
+
+        if path != '':
+            nextStep = path[0]
+            path = path[1:]
+            waiter.travel(nextStep, graphics)
+            
+        if len(queue) != 0 and check == 0 and path == '' and fromBar == 0:
             check = 1
 
         # AStar