diff --git a/bfs.py b/bfs.py
index 3f219da..58d7f4e 100644
--- a/bfs.py
+++ b/bfs.py
@@ -17,6 +17,6 @@ def bfs(istate, goalx, goaly):
         explored.append((state.xpos, state.ypos, state.orientation))
         for value in element :
             val = (value.xpos, value.ypos, value.orientation)
-            if val not in explored:
+            if val not in explored and value not in fringe:
                 fringe.append(value)
     return False
diff --git a/garbage_truck.py b/garbage_truck.py
index 82a7112..9998400 100644
--- a/garbage_truck.py
+++ b/garbage_truck.py
@@ -1,3 +1,5 @@
+FIELDWIDTH = 50
+
 class GarbageTank:
     def __init__(self, volume_capacity, mass_capacity):
         self.vcapacity = volume_capacity #m^3
@@ -8,12 +10,27 @@ class Engine:
         self.power = power #HP
 
 class GarbageTruck:
-    def __init__(self, dump_location, fuel_capacity, xpos, ypos, orientation):
+    def __init__(self, dump_location, fuel_capacity, rect, orientation):
         self.dump_location = dump_location
         self.tank = GarbageTank(15, 18000)
         self.engine = Engine(400)
         self.fuel = fuel_capacity
-        self.xpos = xpos
-        self.ypos = ypos
+        self.rect = rect
         self.orientation = orientation
-        self.houses = [] #lista domów do odwiedzenia
\ No newline at end of file
+        self.houses = [] #lista domów do odwiedzenia
+
+    def turn_left(self):
+        self.orientation = (self.orientation - 1) % 4
+
+    def turn_right(self):
+        self.orientation = (self.orientation + 1) % 4
+
+    def forward(self):
+        if self.orientation == 0:
+            self.rect.x += FIELDWIDTH
+        elif self.orientation == 1:
+            self.rect.y += FIELDWIDTH
+        elif self.orientation == 2:
+            self.rect.x -= FIELDWIDTH
+        else:
+            self.rect.y -= FIELDWIDTH
\ No newline at end of file
diff --git a/main.py b/main.py
index b9b865a..b33ffb2 100644
--- a/main.py
+++ b/main.py
@@ -3,6 +3,7 @@ import random
 from bfs import bfs
 from state import State
 import time
+from garbage_truck import GarbageTruck
 
 pygame.init()
 WIDTH, HEIGHT = 800, 800
@@ -19,6 +20,8 @@ SAND = pygame.transform.scale(SAND_IMG, (50, 50))
 COBBLE_IMG = pygame.image.load("cobble.jpeg")
 COBBLE = pygame.transform.scale(COBBLE_IMG, (50, 50))
 FPS = 10
+FIELDCOUNT = 16
+FIELDWIDTH = 50
 
 class Agent:
     def __init__(self, rect, direction):
@@ -59,7 +62,7 @@ def draw_window(agent, fields):
 def main():
     clock = pygame.time.Clock()
     run = True
-    agent = Agent(pygame.Rect(0, 0, 50, 50), 0)   # tworzenie pola dla agenta
+    agent = GarbageTruck(0, 0, pygame.Rect(0, 0, 50, 50), 0)   # tworzenie pola dla agenta
     fields = randomize_map()
     while run:
         clock.tick(FPS)
@@ -68,23 +71,16 @@ def main():
                 run = False
         #keys_pressed = pygame.key.get_pressed()
         draw_window(agent, fields)
-        steps = bfs(State(None, None, 0, 0, 'E'), 250, 700)
+        steps = bfs(State(None, None, 0, 0, 'E'), 450, 600)
         for interm in steps:
             if interm.action == 'LEFT':
-                agent.direction = (agent.direction - 1) % 4
+                agent.turn_left()
             if interm.action == 'RIGHT':
-                agent.direction = (agent.direction + 1) % 4
+                agent.turn_right()
             if interm.action == 'FORWARD':
-                if agent.direction == 0:
-                    agent.rect.x += 50
-                elif agent.direction == 1:
-                    agent.rect.y += 50
-                elif agent.direction == 2:
-                    agent.rect.x -= 50
-                else:
-                    agent.rect.y -= 50
+                agent.forward()
             draw_window(agent, fields)
-            time.sleep(1)
+            time.sleep(0.5)
     
         while True:
             pass  
diff --git a/succ.py b/succ.py
index b7309dd..8ebe570 100644
--- a/succ.py
+++ b/succ.py
@@ -1,4 +1,5 @@
 from state import State
+FIELDWIDTH, FIELDCOUNT = 50, 16
 
 def succ(st: State):
     successors = []
@@ -7,23 +8,23 @@ def succ(st: State):
         successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'W'))
         successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 'E'))
         if st.ypos > 0:
-            successors.append(State(st, 'FORWARD', st.xpos, st.ypos - 50, 'N'))
+            successors.append(State(st, 'FORWARD', st.xpos, st.ypos - FIELDWIDTH , 'N'))
     
     if st.orientation == 'S':
         successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'E'))
         successors.append(State(st,'RIGHT', st.xpos, st.ypos, 'W'))
-        if st.ypos < 750:
-            successors.append(State(st, 'FORWARD', st.xpos, st.ypos + 50, 'S'))
+        if st.ypos < FIELDWIDTH * (FIELDCOUNT  - 1):
+            successors.append(State(st, 'FORWARD', st.xpos, st.ypos + FIELDWIDTH , 'S'))
 
     if st.orientation == 'W':
         successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'S'))
         successors.append(State(st,'RIGHT', st.xpos, st.ypos, 'N'))
         if st.xpos > 0:
-            successors.append(State(st, 'FORWARD', st.xpos - 50, st.ypos, 'W'))
+            successors.append(State(st, 'FORWARD', st.xpos - FIELDWIDTH , st.ypos, 'W'))
 
     if st.orientation == 'E':
         successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'N'))
         successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 'S'))
-        if st.xpos < 750:
-            successors.append(State(st, 'FORWARD', st.xpos + 50, st.ypos, 'E'))
+        if st.xpos < FIELDWIDTH * (FIELDCOUNT  - 1):
+            successors.append(State(st, 'FORWARD', st.xpos + FIELDWIDTH , st.ypos, 'E'))
     return successors