diff --git a/Main.cpp b/Main.cpp
index b8c962c..b087e21 100644
--- a/Main.cpp
+++ b/Main.cpp
@@ -1,572 +1,606 @@
-#include<iostream>
-#include<stdlib.h>
-#include<windows.h>
-#include<conio.h>
-#include<string>
-#include<list>
-#include<set>
-#include<math.h>
-#include<stack>
-
-using namespace std;
-const int ROW = 27;
-const int COL = 27;
-typedef pair<int, int> Pair;
-typedef pair<double, pair<int, int> > pPair;
-struct cell
-{
-	int parent_i, parent_j;
-	double f, g, h;
-};
-
-
-char pole[27][27][2];
-int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
-
-void color(string foregroundColor, string backgroundColor)
-{
-	HANDLE hOut;
-	hOut = GetStdHandle(STD_OUTPUT_HANDLE);
-	int foregroundCode = 15;
-	if (foregroundColor == "black")
-		foregroundCode = 0;
-	if (foregroundColor == "dark_blue")
-		foregroundCode = 1;
-	if (foregroundColor == "green")
-		foregroundCode = 2;
-	if (foregroundColor == "cyan")
-		foregroundCode = 3;
-	if (foregroundColor == "dark_red")
-		foregroundCode = 4;
-	if (foregroundColor == "purple")
-		foregroundCode = 5;
-	if (foregroundColor == "dark_yellow")
-		foregroundCode = 6;
-	if (foregroundColor == "light_gray")
-		foregroundCode = 7;
-	if (foregroundColor == "gray")
-		foregroundCode = 8;
-	if (foregroundColor == "blue")
-		foregroundCode = 9;
-	if (foregroundColor == "lime")
-		foregroundCode = 10;
-	if (foregroundColor == "light_blue")
-		foregroundCode = 11;
-	if (foregroundColor == "red")
-		foregroundCode = 12;
-	if (foregroundColor == "magenta")
-		foregroundCode = 13;
-	if (foregroundColor == "yellow")
-		foregroundCode = 14;
-	if (foregroundColor == "white")
-		foregroundCode = 15;
-
-	int backgroundCode = 0;
-	if (backgroundColor == "black")
-		backgroundCode = 0;
-	if (backgroundColor == "dark_blue")
-		backgroundCode = 1;
-	if (backgroundColor == "green")
-		backgroundCode = 2;
-	if (backgroundColor == "cyan")
-		backgroundCode = 3;
-	if (backgroundColor == "dark_red")
-		backgroundCode = 4;
-	if (backgroundColor == "purple")
-		backgroundCode = 5;
-	if (backgroundColor == "dark_yellow")
-		backgroundCode = 6;
-	if (backgroundColor == "light_gray")
-		backgroundCode = 7;
-	if (backgroundColor == "gray")
-		backgroundCode = 8;
-	if (backgroundColor == "blue")
-		backgroundCode = 9;
-	if (backgroundColor == "lime")
-		backgroundCode = 10;
-	if (backgroundColor == "light_blue")
-		backgroundCode = 11;
-	if (backgroundColor == "red")
-		backgroundCode = 12;
-	if (backgroundColor == "magenta")
-		backgroundCode = 13;
-	if (backgroundColor == "yellow")
-		backgroundCode = 14;
-	if (backgroundColor == "white")
-		backgroundCode = 15;
-	SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16);
-}
-
-void SetWindow(int Width, int Height)
-{
-	_COORD coord;
-	coord.X = Width;
-	coord.Y = Height;
-
-	_SMALL_RECT Rect;
-	Rect.Top = 0;
-	Rect.Left = 0;
-	Rect.Bottom = Height - 1;
-	Rect.Right = Width - 1;
-
-	HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE);      // Get Handle 
-	SetConsoleScreenBufferSize(Handle, coord);            // Set Buffer Size 
-	SetConsoleWindowInfo(Handle, TRUE, &Rect);            // Set Window Size 
-}
-
-void updatePola()
-{
-	system("cls");
-	for (int i = 0; i < 27; i++)
-	{
-		for (int j = 0; j < 27; j++)
-		{
-			char item = pole[i][j][0];
-			switch (item)
+#include<iostream>
+#include<stdlib.h>
+#include<windows.h>
+#include<conio.h>
+#include<string>
+#include<list>
+#include<set>
+#include<math.h>
+#include<stack>
+
+using namespace std;
+
+const float maxFloat=FLT_MAX;
+const int ROW = 27;
+const int COL = 27;
+typedef pair<int, int> Pair;
+typedef pair<double, pair<int, int>> pPair;
+struct cell
+{
+	int parent_i, parent_j;
+	double f, g, h;
+};
+
+char pole[27][27][2];
+int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
+char currentWay = 'S';
+
+void color(string foregroundColor, string backgroundColor)
+{
+	HANDLE hOut;
+	hOut = GetStdHandle(STD_OUTPUT_HANDLE);
+	int foregroundCode = 15;
+	if (foregroundColor == "black")
+		foregroundCode = 0;
+	if (foregroundColor == "dark_blue")
+		foregroundCode = 1;
+	if (foregroundColor == "green")
+		foregroundCode = 2;
+	if (foregroundColor == "cyan")
+		foregroundCode = 3;
+	if (foregroundColor == "dark_red")
+		foregroundCode = 4;
+	if (foregroundColor == "purple")
+		foregroundCode = 5;
+	if (foregroundColor == "dark_yellow")
+		foregroundCode = 6;
+	if (foregroundColor == "light_gray")
+		foregroundCode = 7;
+	if (foregroundColor == "gray")
+		foregroundCode = 8;
+	if (foregroundColor == "blue")
+		foregroundCode = 9;
+	if (foregroundColor == "lime")
+		foregroundCode = 10;
+	if (foregroundColor == "light_blue")
+		foregroundCode = 11;
+	if (foregroundColor == "red")
+		foregroundCode = 12;
+	if (foregroundColor == "magenta")
+		foregroundCode = 13;
+	if (foregroundColor == "yellow")
+		foregroundCode = 14;
+	if (foregroundColor == "white")
+		foregroundCode = 15;
+
+	int backgroundCode = 0;
+	if (backgroundColor == "black")
+		backgroundCode = 0;
+	if (backgroundColor == "dark_blue")
+		backgroundCode = 1;
+	if (backgroundColor == "green")
+		backgroundCode = 2;
+	if (backgroundColor == "cyan")
+		backgroundCode = 3;
+	if (backgroundColor == "dark_red")
+		backgroundCode = 4;
+	if (backgroundColor == "purple")
+		backgroundCode = 5;
+	if (backgroundColor == "dark_yellow")
+		backgroundCode = 6;
+	if (backgroundColor == "light_gray")
+		backgroundCode = 7;
+	if (backgroundColor == "gray")
+		backgroundCode = 8;
+	if (backgroundColor == "blue")
+		backgroundCode = 9;
+	if (backgroundColor == "lime")
+		backgroundCode = 10;
+	if (backgroundColor == "light_blue")
+		backgroundCode = 11;
+	if (backgroundColor == "red")
+		backgroundCode = 12;
+	if (backgroundColor == "magenta")
+		backgroundCode = 13;
+	if (backgroundColor == "yellow")
+		backgroundCode = 14;
+	if (backgroundColor == "white")
+		backgroundCode = 15;
+	SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16);
+}
+
+void SetWindow(int Width, int Height)
+{
+	_COORD coord;
+	coord.X = Width;
+	coord.Y = Height;
+
+	_SMALL_RECT Rect;
+	Rect.Top = 0;
+	Rect.Left = 0;
+	Rect.Bottom = Height - 1;
+	Rect.Right = Width - 1;
+
+	HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE);      // Get Handle 
+	SetConsoleScreenBufferSize(Handle, coord);            // Set Buffer Size 
+	SetConsoleWindowInfo(Handle, TRUE, &Rect);            // Set Window Size 
+}
+
+void updatePola()
+{
+	system("cls");
+	for (int i = 0; i < 27; i++)
+	{
+		for (int j = 0; j < 27; j++)
+		{
+			char item = pole[i][j][0];
+			switch (item)
+			{
+			case 'B':
+			{
+				color("purple", "dark_yellow");
+			}break;
+			case 'T':
+			{
+				color("red", "dark_yellow");
+			}break;
+			case 'G':
+			{
+				color("lime", "dark_yellow");
+			}break;
+			case '.':
+			{
+				color("yellow", "dark_yellow");
+			}break;
+			case '#':
+			{
+				color("light_gray", "gray");
+			}break;
+			}
+			cout << pole[i][j][0];
+
+		}
+		cout << endl;
+		color("white", "black");
+	}
+}
+
+void correctMovement(char wantedWay)
+{
+	while (currentWay != wantedWay)
+	{
+		switch (currentWay)
+		{
+			case 'N':
 			{
-			case 'B':
+				if (wantedWay == 'S')
+					currentWay = wantedWay;
+				else
+					currentWay = 'W';
+			}break;
+			case 'S':
 			{
-				color("purple", "dark_yellow");
-			}break;
-			case 'T':
+				if (wantedWay == 'N')
+					currentWay = wantedWay;
+				else
+					currentWay = 'W';
+			}break;
+			case 'W':
 			{
-				color("red", "dark_yellow");
-			}break;
-			case 'G':
+				if (wantedWay == 'E')
+					currentWay = wantedWay;
+				else
+					currentWay = 'N';
+			}break;
+			case 'E':
 			{
-				color("lime", "dark_yellow");
-			}break;
-			case '.':
-			{
-				color("yellow", "dark_yellow");
-			}break;
-			case '#':
-			{
-				color("light_gray", "gray");
-			}break;
-			}
-			cout << pole[i][j][0];
-
-		}
-		cout << endl;
-		color("white", "black");
-	}
-}
-
-void Move(char kierunek)
-{
-	switch (kierunek)
-	{
-		//góra-(w)
-		case 'w':
-		{
-			if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#')
-			{
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
-				pozycjaTraktoraY--;
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
-
-			}
-			updatePola();
-		}break;
-		//dół-(s)
-		case 's':
-		{
-			if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#')
-			{
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
-				pozycjaTraktoraY++;
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
-
-			}
-			updatePola();
-		}break;
-		//lewo-(a)
-		case 'a':
-		{
-			if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#')
-			{
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
-				pozycjaTraktoraX--;
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
-
-			}
-			updatePola();
-		}break;
-		//prawo-(d)
-		case 'd':
-		{
-			if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#')
-			{
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
-				pozycjaTraktoraX++;
-				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
-
-			}
-			updatePola();
-		}break;
-	}
-}
-
-
-bool isValid(int x, int y)
-{
-	if (pole[x][y][0] != '#')
-	{
-		return true;
-	}
-	return false;
-}
-
-bool isDestination(int x, int y,Pair dest)
-{
-	if (dest.first == x && dest.second == y)
-	{
-		return true;
-	}
-	return false;
-}
-
-double calculateHValue(int x, int y, Pair dest)
-{
-	return abs(x - dest.first) + abs(y - dest.second);
-}
-
-void tracePath(cell cellDetails[][COL], Pair dest)
-{
-	//printf("\nThe Path is "); //----start info
-	int row = dest.first;
-	int col = dest.second;
-
-	stack<Pair> Path;
-
-	while (!(cellDetails[row][col].parent_i == row
-		&& cellDetails[row][col].parent_j == col))
-	{
-		Path.push(make_pair(row, col));
-		int temp_row = cellDetails[row][col].parent_i;
-		int temp_col = cellDetails[row][col].parent_j;
-		row = temp_row;
-		col = temp_col;
-	}
-
-	Path.push(make_pair(row, col));
-	while (!Path.empty())
-	{
-		pair<int, int> p = Path.top();
-		Path.pop();
-		if (p.first > pozycjaTraktoraX)
-			Move('d');
-		if (p.first < pozycjaTraktoraX)
-			Move('a');
-		if (p.second > pozycjaTraktoraY)
-			Move('s');
-		if (p.second < pozycjaTraktoraY)
-			Move('w');
-		
-		//printf("-> (%d,%d) ", p.first, p.second);  //---- informacja wierzchołku
-		Sleep(1000);
-	}
-
-	return;
-}
-
-void aStarSearch(int grid[][COL],Pair src, Pair dest)
-{
-	bool closedList[ROW][COL];
-	memset(closedList, false, sizeof(closedList));
-
-	cell cellDetails[ROW][COL];
-
-	int i, j;
-	for (i = 0; i < ROW; i++)
-	{
-		for (j = 0; j < COL; j++)
-		{
-			cellDetails[i][j].f = FLT_MAX;
-			cellDetails[i][j].g = FLT_MAX;
-			cellDetails[i][j].h = FLT_MAX;
-			cellDetails[i][j].parent_i = -1;
-			cellDetails[i][j].parent_j = -1;
-		}
-	}
-	i = src.first, j = src.second;
-	cellDetails[i][j].f = 0.0;
-	cellDetails[i][j].g = 0.0;
-	cellDetails[i][j].h = 0.0;
-	cellDetails[i][j].parent_i = i;
-	cellDetails[i][j].parent_j = j;
-	
-	set<pPair> openList;
-	openList.insert(make_pair(0.0, make_pair(i, j)));
-	bool foundDest = false;
-
-	while (!openList.empty())
-	{
-		pPair p = *openList.begin();
-		openList.erase(openList.begin());
-		i = p.second.first;
-		j = p.second.second;
-		closedList[i][j] = true;
-
-		double gNew, hNew, fNew;
-		double waga = 1.0;
-		waga = ((double)pole[j][i][1] - 48)*1.0;//----waga
-
-		//----------- 1st Successor (North) ------------ 
-		if (isValid(i - 1, j) == true)
-		{
-			if (isDestination(i - 1, j, dest) == true)
-			{
-				cellDetails[i - 1][j].parent_i = i;
-				cellDetails[i - 1][j].parent_j = j;
-				//printf("The destination cell is found\n");
-				tracePath(cellDetails, dest);
-				foundDest = true;
-				return;
-			}
-			else if (closedList[i - 1][j] == false)
-			{
-				gNew = cellDetails[i][j].g + waga;
-				hNew = calculateHValue(i - 1, j, dest);
-				fNew = gNew + hNew;
-
-				if (cellDetails[i - 1][j].f == FLT_MAX ||
-					cellDetails[i - 1][j].f > fNew)
-				{
-					openList.insert(make_pair(fNew,
-						make_pair(i - 1, j)));
-
-
-					cellDetails[i - 1][j].f = fNew;
-					cellDetails[i - 1][j].g = gNew;
-					cellDetails[i - 1][j].h = hNew;
-					cellDetails[i - 1][j].parent_i = i;
-					cellDetails[i - 1][j].parent_j = j;
-				}
-			}
-		}
-
-		//----------- 2nd Successor (South) ------------ 
-		if (isValid(i + 1, j) == true)
-		{
-			if (isDestination(i + 1, j, dest) == true)
-			{
-				cellDetails[i + 1][j].parent_i = i;
-				cellDetails[i + 1][j].parent_j = j;
-				//printf("The destination cell is found\n");
-				tracePath(cellDetails, dest);
-				foundDest = true;
-				return;
-			}
-			else if (closedList[i + 1][j] == false)
-			{
-				gNew = cellDetails[i][j].g + waga;
-				hNew = calculateHValue(i + 1, j, dest);
-				fNew = gNew + hNew;
-				if (cellDetails[i + 1][j].f == FLT_MAX ||
-					cellDetails[i + 1][j].f > fNew)
-				{
-					openList.insert(make_pair(fNew, make_pair(i + 1, j)));
-					cellDetails[i + 1][j].f = fNew;
-					cellDetails[i + 1][j].g = gNew;
-					cellDetails[i + 1][j].h = hNew;
-					cellDetails[i + 1][j].parent_i = i;
-					cellDetails[i + 1][j].parent_j = j;
-				}
-			}
-		}
-
-		//----------- 3rd Successor (East) ------------ 
-		if (isValid(i, j + 1) == true)
-		{
-			if (isDestination(i, j + 1, dest) == true)
-			{
-				cellDetails[i][j + 1].parent_i = i;
-				cellDetails[i][j + 1].parent_j = j;
-				//printf("The destination cell is found\n");
-				tracePath(cellDetails, dest);
-				foundDest = true;
-				return;
-			}
-			else if (closedList[i][j + 1] == false)
-			{
-				gNew = cellDetails[i][j].g + waga;
-				hNew = calculateHValue(i, j + 1, dest);
-				fNew = gNew + hNew;
-				if (cellDetails[i][j + 1].f == FLT_MAX ||
-					cellDetails[i][j + 1].f > fNew)
-				{
-					openList.insert(make_pair(fNew,
-						make_pair(i, j + 1)));
-					cellDetails[i][j + 1].f = fNew;
-					cellDetails[i][j + 1].g = gNew;
-					cellDetails[i][j + 1].h = hNew;
-					cellDetails[i][j + 1].parent_i = i;
-					cellDetails[i][j + 1].parent_j = j;
-				}
-			}
-		}
-
-		//----------- 4th Successor (West) ------------ 
-		if (isValid(i, j - 1) == true)
-		{
-			if (isDestination(i, j - 1, dest) == true)
-			{
-				cellDetails[i][j - 1].parent_i = i;
-				cellDetails[i][j - 1].parent_j = j;
-				//printf("The destination cell is found\n");
-				tracePath(cellDetails, dest);
-				foundDest = true;
-				return;
-			}
-			else if (closedList[i][j - 1] == false)
-			{
-				gNew = cellDetails[i][j].g + waga;
-				hNew = calculateHValue(i, j - 1, dest);
-				fNew = gNew + hNew;
-				if (cellDetails[i][j - 1].f == FLT_MAX ||
-					cellDetails[i][j - 1].f > fNew)
-				{
-					openList.insert(make_pair(fNew,
-						make_pair(i, j - 1)));
-					cellDetails[i][j - 1].f = fNew;
-					cellDetails[i][j - 1].g = gNew;
-					cellDetails[i][j - 1].h = hNew;
-					cellDetails[i][j - 1].parent_i = i;
-					cellDetails[i][j - 1].parent_j = j;
-				}
-			}
-		}
-	}
-
-	/*if (foundDest == false)
-		printf("Failed to find the Destination Cell\n");*/
-
-	return;
-}
-
-void gogo(int endX,int endY)
-{
-	updatePola();
-	Sleep(1000);
-	int grid[27][27];
-	for (int i = 0; i < 27; i++)
-	{
-		for (int j = 0; j < 27; j++)
-		{
-			grid[i][j] = 0;
-		}
-	}
-	Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
-	Pair dest = make_pair(endX, endY);
-	aStarSearch(grid, src, dest);
-}
-
-void test1()
-{
-	pole[1][3][0] = 'B';
-	pole[1][3][1] = '9';
-	pole[3][1][0] = 'B';
-	pole[3][1][1] = '9';
-}
-void test2()
-{
-	for (int i = 1; i < 26; i++)
-	{
-		for (int j = 1; j < i; j++)
-		{
-			pole[i][j][0] = 'B';
-			pole[i][j][1] = '9';
-		}
-	}
-	test1();
-	updatePola();
-}
-
-void start1()
-{
-	int goalX = 3, goalY = 4;
-	test1();
-	pole[1][1][0] = 'T';
-	pole[1][1][1] = '1';
-	pole[goalY][goalX][0] = 'G';
-	pole[goalY][goalX][1] = '9';
-	gogo(goalX, goalY);
-}
-void start2()
-{
-	int goalX = 6, goalY = 6;
-	test2();
-	pole[1][1][0] = 'T';
-	pole[1][1][1] = '1';
-	pole[goalY][goalX][0] = 'G';
-	pole[goalY][goalX][1] = '9';
-	gogo(goalX, goalY);
-}
-void start3()
-{
-	int goalX = 6, goalY = 9;
-	test2();
-	pole[1][1][0] = 'T';
-	pole[1][1][1] = '1';
-	pole[goalY][goalX][0] = 'G';
-	pole[goalY][goalX][1] = '9';
-	gogo(goalX, goalY);
-}
-
-int main()
-{
-	SetWindow(50, 30);
-	//create pola//
-	for (int i = 0; i < 27; i++)
-	{
-		pole[i][0][0] = '#';
-		pole[0][i][0] = '#';
-		pole[26][i][0] = '#';
-		pole[i][26][0] = '#';
-		pole[i][0][1] = '9';
-		pole[0][i][1] = '9';
-		pole[26][i][1] = '9';
-		pole[i][26][1] = '9';
-	}
-	for (int i = 1; i < 26; i++)
-	{
-		for (int j = 1; j < 26; j++)
-		{
-			pole[i][j][0] = '.';
-			pole[i][j][1] = '1';
-		}
-	}
-
-	for (int i = 0; i < 25; i++)
-	{
-		pole[i + 1][i + 1][0] = 'B';
-		pole[i + 1][i + 1][1] = '9';
-	}
-
-	updatePola();
-
-	start3();  // testy start 1-3
-
-	//---------start---------//
-	bool traktorDziala = true;
-
-	char akcja;
-
-	do
-	{
-		akcja = _getch();
-		if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd')
-		{
-			Move(akcja);
-		}
-		if (akcja == '0')
-		{
-			traktorDziala = false;
-		}
-	} while (traktorDziala);
-	//---------end---------//
-
-	return 0;
+				if (wantedWay == 'W')
+					currentWay = wantedWay;
+				else
+					currentWay = 'N';
+			}break;
+		}
+	}
+}
+void Move(char kierunek)
+{
+	switch (kierunek)
+	{
+		//góra-(w)
+		case 'w':
+		{
+			if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#')
+			{
+				correctMovement('N');
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
+				pozycjaTraktoraY--;
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
+			}
+			updatePola();
+		}break;
+		//dół-(s)
+		case 's':
+		{
+			if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#')
+			{
+				correctMovement('S');
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
+				pozycjaTraktoraY++;
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
+			}
+			updatePola();
+		}break;
+		//lewo-(a)
+		case 'a':
+		{
+			if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#')
+			{
+				correctMovement('W');
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
+				pozycjaTraktoraX--;
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
+			}
+			updatePola();
+		}break;
+		//prawo-(d)
+		case 'd':
+		{
+			if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#')
+			{
+				correctMovement('E');
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
+				pozycjaTraktoraX++;
+				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
+			}
+			updatePola();
+		}break;
+	}
+}
+
+bool isValid(int x, int y)
+{
+	if (pole[x][y][0] != '#')
+	{
+		return true;
+	}
+	return false;
+}
+bool isDestination(int x, int y,Pair dest)
+{
+	if (dest.first == x && dest.second == y)
+	{
+		return true;
+	}
+	return false;
+}
+double calculateHValue(int x, int y, Pair dest)
+{
+	return abs(x - dest.first) + abs(y - dest.second);
+}
+void tracePath(cell cellDetails[][COL], Pair dest)
+{
+	//printf("\nThe Path is "); //----start info
+	int row = dest.first;
+	int col = dest.second;
+
+	stack<Pair> Path;
+
+	while (!(cellDetails[row][col].parent_i == row
+		&& cellDetails[row][col].parent_j == col))
+	{
+		Path.push(make_pair(row, col));
+		int temp_row = cellDetails[row][col].parent_i;
+		int temp_col = cellDetails[row][col].parent_j;
+		row = temp_row;
+		col = temp_col;
+	}
+
+	Path.push(make_pair(row, col));
+	while (!Path.empty())
+	{
+		pair<int, int> p = Path.top();
+		Path.pop();
+		if (p.first > pozycjaTraktoraX)
+			Move('d');
+		if (p.first < pozycjaTraktoraX)
+			Move('a');
+		if (p.second > pozycjaTraktoraY)
+			Move('s');
+		if (p.second < pozycjaTraktoraY)
+			Move('w');
+		
+		//printf("-> (%d,%d) ", p.first, p.second);  //---- informacja wierzchołku
+		Sleep(1000);
+	}
+
+	return;
+}
+void aStarSearch(int grid[][COL],Pair src, Pair dest)
+{
+	bool closedList[ROW][COL];
+	memset(closedList, false, sizeof(closedList));
+
+	cell cellDetails[ROW][COL];
+
+	int i, j;
+	for (i = 0; i < ROW; i++)
+	{
+		for (j = 0; j < COL; j++)
+		{
+			cellDetails[i][j].f = maxFloat;
+			cellDetails[i][j].g = maxFloat;
+			cellDetails[i][j].h = maxFloat;
+			cellDetails[i][j].parent_i = -1;
+			cellDetails[i][j].parent_j = -1;
+		}
+	}
+	i = src.first, j = src.second;
+	cellDetails[i][j].f = 0.0;
+	cellDetails[i][j].g = 0.0;
+	cellDetails[i][j].h = 0.0;
+	cellDetails[i][j].parent_i = i;
+	cellDetails[i][j].parent_j = j;
+	
+	set<pPair> openList;
+	openList.insert(make_pair(0.0, make_pair(i, j)));
+	bool foundDest = false;
+
+	while (!openList.empty())
+	{
+		pPair p = *openList.begin();
+		openList.erase(openList.begin());
+		i = p.second.first;
+		j = p.second.second;
+		closedList[i][j] = true;
+
+		double gNew, hNew, fNew;
+		double waga = 1.0;
+		waga = ((double)pole[j][i][1] - 48)*1.0;//----waga
+
+		//----------- 1st Successor (North) ------------ 
+		if (isValid(i - 1, j) == true)
+		{
+			if (isDestination(i - 1, j, dest) == true)
+			{
+				cellDetails[i - 1][j].parent_i = i;
+				cellDetails[i - 1][j].parent_j = j;
+				//printf("The destination cell is found\n");
+				tracePath(cellDetails, dest);
+				foundDest = true;
+				return;
+			}
+			else if (closedList[i - 1][j] == false)
+			{
+				gNew = cellDetails[i][j].g + waga;
+				hNew = calculateHValue(i - 1, j, dest);
+				fNew = gNew + hNew;
+
+				if (cellDetails[i - 1][j].f == maxFloat ||
+					cellDetails[i - 1][j].f > fNew)
+				{
+					openList.insert(make_pair(fNew,
+						make_pair(i - 1, j)));
+
+
+					cellDetails[i - 1][j].f = fNew;
+					cellDetails[i - 1][j].g = gNew;
+					cellDetails[i - 1][j].h = hNew;
+					cellDetails[i - 1][j].parent_i = i;
+					cellDetails[i - 1][j].parent_j = j;
+				}
+			}
+		}
+
+		//----------- 2nd Successor (South) ------------ 
+		if (isValid(i + 1, j) == true)
+		{
+			if (isDestination(i + 1, j, dest) == true)
+			{
+				cellDetails[i + 1][j].parent_i = i;
+				cellDetails[i + 1][j].parent_j = j;
+				//printf("The destination cell is found\n");
+				tracePath(cellDetails, dest);
+				foundDest = true;
+				return;
+			}
+			else if (closedList[i + 1][j] == false)
+			{
+				gNew = cellDetails[i][j].g + waga;
+				hNew = calculateHValue(i + 1, j, dest);
+				fNew = gNew + hNew;
+				if (cellDetails[i + 1][j].f == maxFloat ||
+					cellDetails[i + 1][j].f > fNew)
+				{
+					openList.insert(make_pair(fNew, make_pair(i + 1, j)));
+					cellDetails[i + 1][j].f = fNew;
+					cellDetails[i + 1][j].g = gNew;
+					cellDetails[i + 1][j].h = hNew;
+					cellDetails[i + 1][j].parent_i = i;
+					cellDetails[i + 1][j].parent_j = j;
+				}
+			}
+		}
+
+		//----------- 3rd Successor (East) ------------ 
+		if (isValid(i, j + 1) == true)
+		{
+			if (isDestination(i, j + 1, dest) == true)
+			{
+				cellDetails[i][j + 1].parent_i = i;
+				cellDetails[i][j + 1].parent_j = j;
+				//printf("The destination cell is found\n");
+				tracePath(cellDetails, dest);
+				foundDest = true;
+				return;
+			}
+			else if (closedList[i][j + 1] == false)
+			{
+				gNew = cellDetails[i][j].g + waga;
+				hNew = calculateHValue(i, j + 1, dest);
+				fNew = gNew + hNew;
+				if (cellDetails[i][j + 1].f == maxFloat ||
+					cellDetails[i][j + 1].f > fNew)
+				{
+					openList.insert(make_pair(fNew,
+						make_pair(i, j + 1)));
+					cellDetails[i][j + 1].f = fNew;
+					cellDetails[i][j + 1].g = gNew;
+					cellDetails[i][j + 1].h = hNew;
+					cellDetails[i][j + 1].parent_i = i;
+					cellDetails[i][j + 1].parent_j = j;
+				}
+			}
+		}
+
+		//----------- 4th Successor (West) ------------ 
+		if (isValid(i, j - 1) == true)
+		{
+			if (isDestination(i, j - 1, dest) == true)
+			{
+				cellDetails[i][j - 1].parent_i = i;
+				cellDetails[i][j - 1].parent_j = j;
+				//printf("The destination cell is found\n");
+				tracePath(cellDetails, dest);
+				foundDest = true;
+				return;
+			}
+			else if (closedList[i][j - 1] == false)
+			{
+				gNew = cellDetails[i][j].g + waga;
+				hNew = calculateHValue(i, j - 1, dest);
+				fNew = gNew + hNew;
+				if (cellDetails[i][j - 1].f == maxFloat ||
+					cellDetails[i][j - 1].f > fNew)
+				{
+					openList.insert(make_pair(fNew,
+						make_pair(i, j - 1)));
+					cellDetails[i][j - 1].f = fNew;
+					cellDetails[i][j - 1].g = gNew;
+					cellDetails[i][j - 1].h = hNew;
+					cellDetails[i][j - 1].parent_i = i;
+					cellDetails[i][j - 1].parent_j = j;
+				}
+			}
+		}
+	}
+
+	/*if (foundDest == false)
+		printf("Failed to find the Destination Cell\n");*/
+
+	return;
+}
+
+void gogo(int endX,int endY)
+{
+	updatePola();
+	Sleep(1000);
+	int grid[27][27];
+	for (int i = 0; i < 27; i++)
+	{
+		for (int j = 0; j < 27; j++)
+		{
+			grid[i][j] = 0;
+		}
+	}
+	Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
+	Pair dest = make_pair(endX, endY);
+	aStarSearch(grid, src, dest);
+}
+
+void test1()
+{
+	pole[1][3][0] = 'B';
+	pole[1][3][1] = '9';
+	pole[3][1][0] = 'B';
+	pole[3][1][1] = '9';
+}
+void test2()
+{
+	for (int i = 1; i < 26; i++)
+	{
+		for (int j = 1; j < i; j++)
+		{
+			pole[i][j][0] = 'B';
+			pole[i][j][1] = '9';
+		}
+	}
+	test1();
+	updatePola();
+}
+
+void start1()
+{
+	int goalX = 3, goalY = 4;
+	test1();
+	pole[1][1][0] = 'T';
+	pole[1][1][1] = '1';
+	pole[goalY][goalX][0] = 'G';
+	pole[goalY][goalX][1] = '9';
+	gogo(goalX, goalY);
+}
+void start2()
+{
+	int goalX = 6, goalY = 6;
+	test2();
+	pole[1][1][0] = 'T';
+	pole[1][1][1] = '1';
+	pole[goalY][goalX][0] = 'G';
+	pole[goalY][goalX][1] = '9';
+	gogo(goalX, goalY);
+}
+void start3()
+{
+	int goalX = 6, goalY = 9;
+	test2();
+	pole[1][1][0] = 'T';
+	pole[1][1][1] = '1';
+	pole[goalY][goalX][0] = 'G';
+	pole[goalY][goalX][1] = '9';
+	gogo(goalX, goalY);
+}
+
+int main()
+{
+	SetWindow(50, 30);
+	//create pola//
+	for (int i = 0; i < 27; i++)
+	{
+		pole[i][0][0] = '#';
+		pole[0][i][0] = '#';
+		pole[26][i][0] = '#';
+		pole[i][26][0] = '#';
+		pole[i][0][1] = '9';
+		pole[0][i][1] = '9';
+		pole[26][i][1] = '9';
+		pole[i][26][1] = '9';
+	}
+	for (int i = 1; i < 26; i++)
+	{
+		for (int j = 1; j < 26; j++)
+		{
+			pole[i][j][0] = '.';
+			pole[i][j][1] = '1';
+		}
+	}
+
+	for (int i = 0; i < 25; i++)
+	{
+		pole[i + 1][i + 1][0] = 'B';
+		pole[i + 1][i + 1][1] = '9';
+	}
+
+	updatePola();
+
+	start3();  // testy start 1-3
+
+	//---------start---------//
+	bool traktorDziala = true;
+
+	char akcja;
+
+	do
+	{
+		akcja = _getch();
+		if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd')
+		{
+			Move(akcja);
+		}
+		if (akcja == '0')
+		{
+			traktorDziala = false;
+		}
+	} while (traktorDziala);
+	//---------end---------//
+
+	return 0;
 }
\ No newline at end of file