diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..1d7901e
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+/__pycache__
\ No newline at end of file
diff --git a/.idea/.gitignore b/.idea/.gitignore
deleted file mode 100644
index 26d3352..0000000
--- a/.idea/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml
diff --git a/__pycache__/astar.cpython-310.pyc b/__pycache__/astar.cpython-310.pyc
deleted file mode 100644
index 42aa76a..0000000
Binary files a/__pycache__/astar.cpython-310.pyc and /dev/null differ
diff --git a/__pycache__/bfs.cpython-310.pyc b/__pycache__/bfs.cpython-310.pyc
deleted file mode 100644
index 6cd41fc..0000000
Binary files a/__pycache__/bfs.cpython-310.pyc and /dev/null differ
diff --git a/__pycache__/garbage_truck.cpython-310.pyc b/__pycache__/garbage_truck.cpython-310.pyc
deleted file mode 100644
index d4dcb18..0000000
Binary files a/__pycache__/garbage_truck.cpython-310.pyc and /dev/null differ
diff --git a/__pycache__/heuristicfn.cpython-310.pyc b/__pycache__/heuristicfn.cpython-310.pyc
deleted file mode 100644
index a8d8775..0000000
Binary files a/__pycache__/heuristicfn.cpython-310.pyc and /dev/null differ
diff --git a/__pycache__/main.cpython-310.pyc b/__pycache__/main.cpython-310.pyc
deleted file mode 100644
index 6af3024..0000000
Binary files a/__pycache__/main.cpython-310.pyc and /dev/null differ
diff --git a/__pycache__/state.cpython-310.pyc b/__pycache__/state.cpython-310.pyc
deleted file mode 100644
index 927e172..0000000
Binary files a/__pycache__/state.cpython-310.pyc and /dev/null differ
diff --git a/__pycache__/succ.cpython-310.pyc b/__pycache__/succ.cpython-310.pyc
deleted file mode 100644
index d3465fc..0000000
Binary files a/__pycache__/succ.cpython-310.pyc and /dev/null differ
diff --git a/astar.py b/astar.py
index 2b30eaf..8621c06 100644
--- a/astar.py
+++ b/astar.py
@@ -36,26 +36,3 @@ def astar(istate, goalx, goaly, passedFields):
                         element.priority = value.priority
     return False
 
-
-# def bfs(istate, goalx, goaly, passedFields):
-#     fringe = [istate]
-#     explored = []
-#     steps = []
-#     while fringe:
-#         state = fringe.pop(0)
-#         if state.xpos == goalx and state.ypos == goaly:
-#             steps.insert(0, state)
-#             while (state.parent != None):
-#                 state = state.parent
-#                 steps.insert(0, state)
-#             return steps
-
-#         element = successors(state, passedFields)
-#         explored.append((state.xpos, state.ypos, state.orientation))
-#         for value in element:
-#             val = (value.xpos, value.ypos, value.orientation)
-#             if val not in explored and value not in fringe:
-#                 fringe.append(value)
-#     return False
-
-
diff --git a/collect b/collect
new file mode 100644
index 0000000..bcbe918
--- /dev/null
+++ b/collect
@@ -0,0 +1,105 @@
+digraph Tree {
+node [shape=box, fontname="helvetica"] ;
+edge [fontname="helvetica"] ;
+0 [label="distance <= 14.5\ngini = 0.484\nsamples = 200\nvalue = [118, 82]\nclass = collect"] ;
+1 [label="paid_on_time <= 0.5\ngini = 0.437\nsamples = 93\nvalue = [30, 63]\nclass = no-collect"] ;
+0 -> 1 [labeldistance=2.5, labelangle=45, headlabel="True"] ;
+2 [label="gini = 0.0\nsamples = 9\nvalue = [9, 0]\nclass = collect"] ;
+1 -> 2 ;
+3 [label="fuel <= 1508.0\ngini = 0.375\nsamples = 84\nvalue = [21, 63]\nclass = no-collect"] ;
+1 -> 3 ;
+4 [label="gini = 0.0\nsamples = 7\nvalue = [7, 0]\nclass = collect"] ;
+3 -> 4 ;
+5 [label="space_occupied <= 0.856\ngini = 0.298\nsamples = 77\nvalue = [14, 63]\nclass = no-collect"] ;
+3 -> 5 ;
+6 [label="days_since_last_collection <= 4.5\ngini = 0.187\nsamples = 67\nvalue = [7, 60]\nclass = no-collect"] ;
+5 -> 6 ;
+7 [label="fuel <= 11519.5\ngini = 0.48\nsamples = 5\nvalue = [3, 2]\nclass = collect"] ;
+6 -> 7 ;
+8 [label="gini = 0.0\nsamples = 3\nvalue = [3, 0]\nclass = collect"] ;
+7 -> 8 ;
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+7 -> 9 ;
+10 [label="fuel <= 16955.0\ngini = 0.121\nsamples = 62\nvalue = [4, 58]\nclass = no-collect"] ;
+6 -> 10 ;
+11 [label="garbage_weight <= 0.612\ngini = 0.094\nsamples = 61\nvalue = [3, 58]\nclass = no-collect"] ;
+10 -> 11 ;
+12 [label="distance <= 10.5\ngini = 0.5\nsamples = 2\nvalue = [1, 1]\nclass = collect"] ;
+11 -> 12 ;
+13 [label="gini = 0.0\nsamples = 1\nvalue = [1, 0]\nclass = collect"] ;
+12 -> 13 ;
+14 [label="gini = 0.0\nsamples = 1\nvalue = [0, 1]\nclass = no-collect"] ;
+12 -> 14 ;
+15 [label="garbage_type <= 2.5\ngini = 0.065\nsamples = 59\nvalue = [2, 57]\nclass = no-collect"] ;
+11 -> 15 ;
+16 [label="gini = 0.0\nsamples = 46\nvalue = [0, 46]\nclass = no-collect"] ;
+15 -> 16 ;
+17 [label="garbage_weight <= 15.925\ngini = 0.26\nsamples = 13\nvalue = [2, 11]\nclass = no-collect"] ;
+15 -> 17 ;
+18 [label="odour_intensity <= 5.724\ngini = 0.444\nsamples = 3\nvalue = [2, 1]\nclass = collect"] ;
+17 -> 18 ;
+19 [label="gini = 0.0\nsamples = 2\nvalue = [2, 0]\nclass = collect"] ;
+18 -> 19 ;
+20 [label="gini = 0.0\nsamples = 1\nvalue = [0, 1]\nclass = no-collect"] ;
+18 -> 20 ;
+21 [label="gini = 0.0\nsamples = 10\nvalue = [0, 10]\nclass = no-collect"] ;
+17 -> 21 ;
+22 [label="gini = 0.0\nsamples = 1\nvalue = [1, 0]\nclass = collect"] ;
+10 -> 22 ;
+23 [label="garbage_type <= 1.0\ngini = 0.42\nsamples = 10\nvalue = [7, 3]\nclass = collect"] ;
+5 -> 23 ;
+24 [label="gini = 0.0\nsamples = 2\nvalue = [0, 2]\nclass = no-collect"] ;
+23 -> 24 ;
+25 [label="odour_intensity <= 8.841\ngini = 0.219\nsamples = 8\nvalue = [7, 1]\nclass = collect"] ;
+23 -> 25 ;
+26 [label="gini = 0.0\nsamples = 6\nvalue = [6, 0]\nclass = collect"] ;
+25 -> 26 ;
+27 [label="space_occupied <= 0.936\ngini = 0.5\nsamples = 2\nvalue = [1, 1]\nclass = collect"] ;
+25 -> 27 ;
+28 [label="gini = 0.0\nsamples = 1\nvalue = [0, 1]\nclass = no-collect"] ;
+27 -> 28 ;
+29 [label="gini = 0.0\nsamples = 1\nvalue = [1, 0]\nclass = collect"] ;
+27 -> 29 ;
+30 [label="odour_intensity <= 7.156\ngini = 0.292\nsamples = 107\nvalue = [88, 19]\nclass = collect"] ;
+0 -> 30 [labeldistance=2.5, labelangle=-45, headlabel="False"] ;
+31 [label="garbage_weight <= 49.659\ngini = 0.116\nsamples = 81\nvalue = [76, 5]\nclass = collect"] ;
+30 -> 31 ;
+32 [label="days_since_last_collection <= 24.5\ngini = 0.095\nsamples = 80\nvalue = [76, 4]\nclass = collect"] ;
+31 -> 32 ;
+33 [label="gini = 0.0\nsamples = 65\nvalue = [65, 0]\nclass = collect"] ;
+32 -> 33 ;
+34 [label="distance <= 19.0\ngini = 0.391\nsamples = 15\nvalue = [11, 4]\nclass = collect"] ;
+32 -> 34 ;
+35 [label="fuel <= 6122.0\ngini = 0.444\nsamples = 6\nvalue = [2, 4]\nclass = no-collect"] ;
+34 -> 35 ;
+36 [label="gini = 0.0\nsamples = 2\nvalue = [2, 0]\nclass = collect"] ;
+35 -> 36 ;
+37 [label="gini = 0.0\nsamples = 4\nvalue = [0, 4]\nclass = no-collect"] ;
+35 -> 37 ;
+38 [label="gini = 0.0\nsamples = 9\nvalue = [9, 0]\nclass = collect"] ;
+34 -> 38 ;
+39 [label="gini = 0.0\nsamples = 1\nvalue = [0, 1]\nclass = no-collect"] ;
+31 -> 39 ;
+40 [label="days_since_last_collection <= 13.5\ngini = 0.497\nsamples = 26\nvalue = [12, 14]\nclass = no-collect"] ;
+30 -> 40 ;
+41 [label="gini = 0.0\nsamples = 8\nvalue = [8, 0]\nclass = collect"] ;
+40 -> 41 ;
+42 [label="distance <= 20.0\ngini = 0.346\nsamples = 18\nvalue = [4, 14]\nclass = no-collect"] ;
+40 -> 42 ;
+43 [label="gini = 0.0\nsamples = 8\nvalue = [0, 8]\nclass = no-collect"] ;
+42 -> 43 ;
+44 [label="days_since_last_collection <= 20.0\ngini = 0.48\nsamples = 10\nvalue = [4, 6]\nclass = no-collect"] ;
+42 -> 44 ;
+45 [label="gini = 0.0\nsamples = 2\nvalue = [2, 0]\nclass = collect"] ;
+44 -> 45 ;
+46 [label="paid_on_time <= 0.5\ngini = 0.375\nsamples = 8\nvalue = [2, 6]\nclass = no-collect"] ;
+44 -> 46 ;
+47 [label="gini = 0.0\nsamples = 1\nvalue = [1, 0]\nclass = collect"] ;
+46 -> 47 ;
+48 [label="space_occupied <= 0.243\ngini = 0.245\nsamples = 7\nvalue = [1, 6]\nclass = no-collect"] ;
+46 -> 48 ;
+49 [label="gini = 0.0\nsamples = 1\nvalue = [1, 0]\nclass = collect"] ;
+48 -> 49 ;
+50 [label="gini = 0.0\nsamples = 6\nvalue = [0, 6]\nclass = no-collect"] ;
+48 -> 50 ;
+}
diff --git a/collect.pdf b/collect.pdf
new file mode 100644
index 0000000..2f2f23c
Binary files /dev/null and b/collect.pdf differ
diff --git a/data_set.csv b/data_set.csv
new file mode 100644
index 0000000..885534a
--- /dev/null
+++ b/data_set.csv
@@ -0,0 +1,201 @@
+garbage_type,fuel,distance,space_occupied,days_since_last_collection,paid_on_time,odour_intensity,garbage_weight,collect
+recyclable,6858,1,0.38943502197015845,29,True,6.28805984614285,31.096305244645166,True
+bio,8383,21,0.9783983457146607,14,True,6.707753087002224,20.60776725387002,False
+mixed,16767,15,0.41993855549014525,4,False,5.463860044558358,30.805902479603375,False
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+electronics,14924,1,0.7997366072420831,24,True,5.973094339762372,2.1960136215621597,True
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+bio,16881,30,0.8470777393096841,14,True,0.1508008943936856,9.66913380182971,False
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+electronics,2343,16,0.0019177537789323296,4,True,2.353885718716456,4.0522152593080785,False
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+recyclable,9995,9,0.6800124218236376,28,True,2.0962119840774807,45.05860783045714,True
+bio,857,20,0.36392075025020776,25,True,4.4895067182730166,9.406278983853117,False
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+bio,13629,25,0.9255282254327359,18,True,4.768952675438898,21.220696047775256,False
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+mixed,12667,23,0.7263372730324396,3,True,6.983673440089592,6.3271012844971946,False
+electronics,902,10,0.0972446120759014,7,True,1.7007332471135728,2.4875140164366094,False
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+mixed,16907,19,0.6413162554313889,14,True,3.931847480053995,21.564811955711722,False
+electronics,12129,17,0.3255998096481383,21,False,5.834549250003657,24.404139636994316,False
+recyclable,9388,7,0.18480810633503664,8,True,3.307342994428133,29.47279722274338,True
+electronics,12282,19,0.787940768129883,3,True,1.9425612340575626,44.338448409498895,False
+recyclable,16843,18,0.3006615497630535,4,True,0.306619782743337,0.10183018082673412,False
+mixed,14387,13,0.9070926514128955,3,True,2.42929766024208,11.249774077666292,False
+electronics,15436,27,0.06941730562384307,26,True,4.5631172094766175,27.34477833807143,False
+mixed,15465,13,0.08353207908213156,16,False,6.820610862001022,28.32262519003446,False
+electronics,14811,2,0.3949179382540411,23,True,0.381962545476181,41.11931445912492,True
+bio,2151,3,0.9129936622264005,22,True,9.17371100015908136,33.74134732997111,True
+mixed,237,11,0.9964787642547496,25,True,5.211086288207052,16.330679822388745,False
+mixed,111,22,0.4711301611274815,18,True,8.30571757605114,48.73704630000289,False
+electronics,4463,18,0.5607936953252097,9,True,5.340209435107365,10.017097722357493,False
+electronics,15244,3,0.3869275687952053,18,True,3.652817201742993,37.26534729300576,True
+mixed,11816,29,0.04079719450519703,18,True,7.2327475650423647,11.744528538216914,False
+mixed,7419,13,0.03779749101113905,15,True,7.672313681492664,5.861975978144901,True
+electronics,9401,14,0.3103153528084557,26,True,5.2103976136388175,38.08987567003111,True
+mixed,16276,3,0.479034009007552,27,True,4.651924221072261,10.953743088081447,True
+mixed,4532,2,0.747513820128898,29,True,0.2586713125686746,19.881947016208546,True
+mixed,11549,8,0.49394575237900273,6,True,2.5440665374161995,32.4915857099389873,True
+recyclable,3813,4,0.22880151196725018,6,True,7.220713613387959,46.890649430682544,True
+bio,17962,18,0.624644549751732,11,False,8.475303217255203,5.3631616817744865,False
+bio,3940,25,0.8584303157289703,30,True,7.295573469672193,19.75062441304104,True
+bio,3540,1,0.16268575368033733,13,True,5.880093986834379,13.761791968844527,True
+recyclable,5461,20,0.9720273624310242,9,True,7.150632586077218,22.90010680963285,False
+bio,11821,19,0.4890954252362738,5,True,5.243707979141446,34.04257151648786,False
+bio,4151,13,0.7741603691526736,24,True,8.797747697546043,23.594349450180914,True
+recyclable,9015,12,0.06465113909613351,16,True,6.820701685767977,0.20513555254460525,True
+mixed,6611,16,0.6367050551717114,9,True,1.1168941403754773,22.01478968287895,False
+bio,5523,14,0.7903120332698462,13,True,5.584457456040392,49.05459466627317,True
+mixed,5789,27,0.9382743640127215,15,True,6.322173697254331,47.602736117018026,False
+bio,3441,20,0.2704566556023139,9,True,6.034883457792668,5.934602634889502,False
+bio,12771,17,0.9036479407267245,6,True,4.983318099275128,4.7884656590729495,False
+mixed,14202,21,0.1829947029669602,19,True,6.351850543526715,49.88486222532098,True
+electronics,5853,7,0.25211596914266365,19,False,6.04880922544101,44.15037893145479,False
+bio,1013,28,0.2328958888157674,10,True,5.722313037134815,44.5605489804229,False
+mixed,4382,25,0.9629592705464354,15,True,0.7262561290537561,49.22062156968296,False
+electronics,303,15,0.1935869262999148,28,True,4.825010078601935,32.304918866098134,False
+mixed,11291,3,0.4987501399891241,19,True,7.593017186381552,17.60598885484067,True
+mixed,228,11,0.7482870715914006,15,True,4.99089814924729,10.43107633070246,False
+bio,1164,11,0.5377166416978679,22,True,5.107421661337108,14.616108271654959,False
+mixed,16153,28,0.10319171233491664,9,False,4.403420968891197,2.0814455890390384,False
+mixed,5727,8,0.6742508678514485,12,True,5.806819175818928,40.39841656773793,True
+mixed,8684,28,0.28952554683233755,4,True,3.6507840151179174,14.380642477352534,False
+bio,15036,25,0.3013529193213179,28,True,2.8003869601469213,1.7050484121073906,False
+electronics,9081,15,0.552743466291092,2,True,3.64259133151227,46.66783990228206,False
+bio,9195,11,0.39260282046107997,24,True,9.000375724293816,9.358015869334334,True
+recyclable,8258,17,0.9173355631818932,24,True,5.696271382671787,11.838799672256089,False
+mixed,5203,16,0.20853652624054675,7,False,7.218874544155853,3.3802787098178633,False
+mixed,10353,4,0.6612627593282159,12,True,0.8160458268763704,48.21072530277851,True
+mixed,1801,26,0.1724747032914301,5,True,9.767546930194213,48.306921765049395,False
+mixed,9787,3,0.12733427196255642,6,True,2.878806668582902,19.141664339310555,True
+recyclable,3968,8,0.13408211860863806,19,True,7.004806522643715,21.695728722138725,True
+mixed,14638,26,0.6610180396198244,25,True,5.004704839665123,8.611752981253796,False
+mixed,8548,17,0.6919756512026707,26,True,8.7096013024813113,47.49247425366768,True
+mixed,1491,18,0.9820986051525684,9,True,9.258025774670367,15.98094975265509,False
+recyclable,3668,17,0.7640578172220626,14,True,3.3725194345302,20.997519420207006,False
+mixed,9787,4,0.4690947509402401,17,True,0.5513818386579639,35.515442456358294,True
+mixed,11328,16,0.05659862491548939,28,True,6.580525503234329,40.057728572365605,True
+mixed,4016,27,0.7672970359948862,1,True,0.6970633008301563,45.40712539668869,False
+bio,235,8,0.1340953149733236,18,True,8.0577551256497664,24.750364306492106,False
+mixed,4125,11,0.32068177017369326,24,True,2.0819986305961913,30.206075317324398,True
+mixed,7794,5,0.7237994849277903,20,True,1.182186279436862,15.700974509225196,True
+electronics,5395,16,0.8055586819904074,24,True,4.031003133386356,23.875466510639743,False
+mixed,15505,18,0.45203522304151467,17,True,7.160642286283462,45.612740804260326,True
+electronics,1348,21,0.9644616372108747,25,True,6.634919820603092,46.44550586828582,False
+mixed,13686,1,0.8528583962138082,5,True,0.6350681726528817,0.8430687396440373,True
+electronics,13873,30,0.294532542273514,12,True,4.044317910413886,29.99919461949812,False
+mixed,930,14,0.46484946768172597,23,True,7.293222367859043,17.888778031470803,False
+recyclable,6370,7,0.3266741326325917,9,True,6.774166929984485,28.671638946376447,True
+recyclable,13159,18,0.5742087586584416,3,True,2.8310145159793643,40.38310972219153,False
+recyclable,8149,23,0.4840066004404705,10,True,6.860051045888277,29.211740461959135,False
+recyclable,396,16,0.504161153047322,22,True,1.1809202381636141,21.642509975194923,False
+mixed,17012,15,0.36468655494367364,17,True,9.146259705631856,30.88331825323704,True
+bio,8100,30,0.454702411813268,22,True,9.779578763490457,11.101202564362856,True
+mixed,8726,9,0.5227832599121376,18,False,8.2472402461143006,23.712317819323303,False
+mixed,5613,27,0.6288843449715512,13,True,0.48282122404645356,14.460408589324647,False
+recyclable,13042,1,0.99875193495793,28,True,8.056286187944535,19.768446255164413,False
+electronics,1873,23,0.7266911060409714,26,True,6.289322618112965,25.655151095201717,False
+mixed,13898,3,0.6023654342268365,21,False,4.18436411688805,30.68913330956739,False
+mixed,8500,16,0.3132189683797034,20,True,9.665381836688276,26.531016057140715,True
+mixed,10609,12,0.7957280975350293,3,True,5.967088403839806,30.980907594987215,False
+mixed,14060,9,0.8533975340326421,26,True,5.081066967675499,3.5703010248585523,True
+bio,10428,9,0.12952527618075171,16,True,8.409694306302747,38.25806756331836,True
+mixed,12129,10,0.16679000401714317,8,True,3.4722510171543055,39.07152515129634,True
+recyclable,6077,6,0.9688896707567596,1,True,2.2628928125079515,25.143203629333183,False
+electronics,17942,30,0.9333715534636539,16,True,0.8192317565547003,6.090205324669523,False
+mixed,12312,1,0.7589005664492561,5,True,5.319612963692009,48.574652948536254,True
+mixed,10378,25,0.525947228730475,22,True,8.650164549728183,37.47486500747239,True
+bio,10538,17,0.24441031022066229,25,True,4.9354317996121857,10.573213306548123,True
+recyclable,6187,16,0.48862304056788397,26,True,2.3657930824249473,37.65868384027124,True
+mixed,13968,13,0.9178321609964433,0,True,2.9607729258033775,7.084392850555182,False
+electronics,9805,15,0.17688249183631466,13,True,3.655335256007239,20.687030526697665,False
+recyclable,8650,11,0.5509231139255383,18,True,4.995396641282026,29.262501847653766,True
+recyclable,9498,14,0.24820888510715444,16,True,2.752760360379596,3.736430768304949,False
+mixed,11052,23,0.5825446526885096,13,True,2.625836401148206,19.3834716160646,False
+bio,16212,23,0.9097101570818567,26,False,9.766445054530736,11.374414855314813,False
+mixed,8855,6,0.11681132733819222,28,True,7.162264591925456,1.4784965471126454,True
+mixed,16243,14,0.3066015436426298,11,True,7.527387665529669,27.536003398124848,True
+mixed,12805,27,0.2980093260554303,12,True,1.2954787682496038,26.763165725254694,False
+recyclable,8656,28,0.06481336166041907,19,True,7.13282912045492,38.64738564701376,False
\ No newline at end of file
diff --git a/garbage_truck.py b/garbage_truck.py
index 9998400..2528f48 100644
--- a/garbage_truck.py
+++ b/garbage_truck.py
@@ -1,31 +1,38 @@
+from heuristicfn import heuristicfn
+
 FIELDWIDTH = 50
+TURN_FUEL_COST = 10
+MOVE_FUEL_COST = 200
+MAX_FUEL = 20000
+MAX_SPACE = 5
+MAX_WEIGHT = 200
 
-class GarbageTank:
-    def __init__(self, volume_capacity, mass_capacity):
-        self.vcapacity = volume_capacity #m^3
-        self.mcapacity = mass_capacity #kg
-
-class Engine:
-    def __init__(self, power):
-        self.power = power #HP
 
 class GarbageTruck:
-    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
+
+    garbage_types = {'bio': 0, 'electronics': 1, 'mixed': 2, 'recyclable': 3}
+
+    def __init__(self, dump_x, dump_y, rect, orientation, request_list: list, clf):
+        self.dump_x = dump_x
+        self.dump_y = dump_y
+        self.fuel = MAX_FUEL
+        self.free_space = MAX_SPACE
+        self.weight_capacity = MAX_WEIGHT
         self.rect = rect
         self.orientation = orientation
-        self.houses = [] #lista domów do odwiedzenia
+        self.request_list = request_list #lista domów do odwiedzenia
+        self.clf = clf
 
     def turn_left(self):
         self.orientation = (self.orientation - 1) % 4
+        self.fuel -= TURN_FUEL_COST
 
     def turn_right(self):
         self.orientation = (self.orientation + 1) % 4
+        self.fuel -= TURN_FUEL_COST
 
     def forward(self):
+        self.fuel -= MOVE_FUEL_COST
         if self.orientation == 0:
             self.rect.x += FIELDWIDTH
         elif self.orientation == 1:
@@ -33,4 +40,48 @@ class GarbageTruck:
         elif self.orientation == 2:
             self.rect.x -= FIELDWIDTH
         else:
-            self.rect.y -= FIELDWIDTH
\ No newline at end of file
+            self.rect.y -= FIELDWIDTH
+
+    def next_destination(self):
+        
+        for i in range(len(self.request_list)):
+            request = self.request_list[i]
+
+            #nie ma miejsca w zbiorniku lub za ciężkie śmieci
+            if request.volume > self.free_space or request.weight > self.weight_capacity:
+                continue
+            
+            #nie straczy paliwa na dojechanie i powrót na wysypisko
+            if heuristicfn(request.x_pos, request.y_pos, self.dump_x, self.dump_y) // 50 * 200 > self.fuel:
+                continue
+            
+
+
+            distance = heuristicfn(self.rect.x, self.rect.y, request.x_pos, request.y_pos) // 50
+
+            r = [
+                self.fuel, 
+                distance,
+                request.volume,
+                request.last_collection,
+                request.is_paid,
+                request.odour_intensity,
+                request.weight,
+                request.type
+            ]
+            if self.clf.predict([r]) == True:
+                self.request_list.pop(i)
+                self.free_space -= request.volume
+                self.weight_capacity -= request.weight
+                return request.x_pos, request.y_pos   
+        return self.dump_x, self.dump_y
+            
+
+
+    def collect(self):
+        if self.rect.x == self.dump_x and self.rect.y == self.dump_y:
+            self.fuel = MAX_FUEL
+            self.free_space = MAX_SPACE
+            self.weight_capacity = MAX_WEIGHT
+        print(f'agent at ({self.rect.x}, {self.rect.y}); fuel: {self.fuel}; free space: {self.free_space}; weight capacity: {self.weight_capacity}')
+        pass
\ No newline at end of file
diff --git a/home.py b/home.py
deleted file mode 100644
index e795dfc..0000000
--- a/home.py
+++ /dev/null
@@ -1,4 +0,0 @@
-class Home:
-    def __init__(self, coord):
-        self.coord = coord
-        self.collect_request = False
\ No newline at end of file
diff --git a/litter.py b/litter.py
deleted file mode 100644
index 6dc9dd9..0000000
--- a/litter.py
+++ /dev/null
@@ -1,8 +0,0 @@
-class Litter:
-    
-    types = ['PAPER', 'GLASS', 'PLASTIC', 'METAL', 'BIO', 'MUNICIPAL', 'ELECTRONICS']
-
-    def __init__(self, type, volume, mass):
-        self.type = type
-        self.volume = volume
-        self.mass = mass
diff --git a/main.py b/main.py
index 2c9e7a5..b31fffe 100644
--- a/main.py
+++ b/main.py
@@ -1,10 +1,13 @@
 import pygame
-import random
+from treelearn import treelearn
+
+
 from astar import astar
 from state import State
 import time
 from garbage_truck import GarbageTruck
 from heuristicfn import heuristicfn
+from map import randomize_map
 
 pygame.init()
 WIDTH, HEIGHT = 800, 800
@@ -12,52 +15,12 @@ window = pygame.display.set_mode((WIDTH, HEIGHT))
 pygame.display.set_caption("Intelligent Garbage Collector")
 AGENT_IMG = pygame.image.load("garbage-truck-nbg.png")
 AGENT = pygame.transform.scale(AGENT_IMG, (50, 50))
-DIRT_IMG = pygame.image.load("dirt.jpg")
-DIRT = pygame.transform.scale(DIRT_IMG, (50, 50))
-GRASS_IMG = pygame.image.load("grass.png")
-GRASS = pygame.transform.scale(GRASS_IMG, (50, 50))
-SAND_IMG = pygame.image.load("sand.jpeg")
-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):
-        self.rect = rect
-        self.direction = direction
-
-
-def randomize_map():        # tworzenie mapy z losowymi polami
-    field_array_1 = []
-    field_array_2 = []
-    field_priority = []
-    for i in range(16):
-        temp_priority = []
-        for j in range(16):
-            if i in (0, 1) and j in (0, 1):
-                field_array_2.append(GRASS)
-                temp_priority.append(1)
-            else:
-                prob = random.uniform(0, 100)
-                if 0 <= prob <= 12:
-                    field_array_2.append(COBBLE)
-                    temp_priority.append(3)
-                elif 12 < prob <= 24:
-                    field_array_2.append(SAND)
-                    temp_priority.append(2)
-                else:
-                    field_array_2.append(GRASS)
-                    temp_priority.append(1)
-        field_array_1.append(field_array_2)
-        field_array_2 = []
-        field_priority.append(temp_priority)
-    return field_array_1, field_priority
-
-
+GRASS_IMG = pygame.image.load("grass.png")
+GRASS = pygame.transform.scale(GRASS_IMG, (50, 50))
 def draw_window(agent, fields, flip):
     if flip:
         direction = pygame.transform.flip(AGENT, True, False)
@@ -71,21 +34,22 @@ def draw_window(agent, fields, flip):
 
 
 def main():
+    clf = treelearn()
     clock = pygame.time.Clock()
     run = True
-    x, y = [0, 0]
-    agent = GarbageTruck(0, 0, pygame.Rect(x, y, 50, 50), 0)   # tworzenie pola dla agenta
-    fields, priority_array = randomize_map()
-    print(priority_array)
-    final_x, final_y = [100, 300]
+    fields, priority_array, request_list = randomize_map()
+    agent = GarbageTruck(0, 0, pygame.Rect(0, 0, 50, 50), 0, request_list, clf)   # tworzenie pola dla agenta
     while run:
         clock.tick(FPS)
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 run = False
-        # keys_pressed = pygame.key.get_pressed()
         draw_window(agent, fields, False)   # false = kierunek east (domyslny), true = west
-        steps = astar(State(None, None, x, y, 'E', priority_array[0][0], heuristicfn(x, y, final_x, final_y)), final_x, final_y, priority_array)
+        x, y = agent.next_destination()
+        if x == agent.rect.x and y == agent.rect.y:
+            print('out of jobs')
+            break
+        steps = astar(State(None, None, agent.rect.x, agent.rect.y, agent.orientation, priority_array[agent.rect.x//50][agent.rect.y//50], heuristicfn(agent.rect.x, agent.rect.y, x, y)), x, y, priority_array)
         for interm in steps:
             if interm.action == 'LEFT':
                 agent.turn_left()
@@ -101,10 +65,12 @@ def main():
                     draw_window(agent, fields, True)
                 else:
                     draw_window(agent, fields, False)
-            time.sleep(0.5)
+            time.sleep(0.3)
+        agent.collect()
+        fields[agent.rect.x//50][agent.rect.y//50] = GRASS
+        priority_array[agent.rect.x//50][agent.rect.y//50] = 1
+        time.sleep(0.5)
     
-        while True:
-            pass  
 
     pygame.quit()
 
diff --git a/map.py b/map.py
new file mode 100644
index 0000000..f155c2b
--- /dev/null
+++ b/map.py
@@ -0,0 +1,44 @@
+import pygame, random
+from request import Request
+
+DIRT_IMG = pygame.image.load("dirt.jpg")
+DIRT = pygame.transform.scale(DIRT_IMG, (50, 50))
+GRASS_IMG = pygame.image.load("grass.png")
+GRASS = pygame.transform.scale(GRASS_IMG, (50, 50))
+SAND_IMG = pygame.image.load("sand.jpeg")
+SAND = pygame.transform.scale(SAND_IMG, (50, 50))
+COBBLE_IMG = pygame.image.load("cobble.jpeg")
+COBBLE = pygame.transform.scale(COBBLE_IMG, (50, 50))
+
+def randomize_map():        # tworzenie mapy z losowymi polami
+    request_list = []
+    field_array_1 = []
+    field_array_2 = []
+    field_priority = []
+    for i in range(16):
+        temp_priority = []
+        for j in range(16):
+            if i in (0, 1) and j in (0, 1):
+                field_array_2.append(GRASS)
+                temp_priority.append(1)
+            else:
+                prob = random.uniform(0, 100)
+                if 0 <= prob <= 12:
+                    field_array_2.append(COBBLE)
+                    temp_priority.append(100)
+                    request_list.append(Request(
+                        i*50,j*50, #lokacja
+                        random.randint(0,3), #typ śmieci
+                        random.random(), #objętość śmieci
+                        random.randint(0,30), #ostatni odbiór
+                        random.randint(0,1), #czy opłacone w terminie
+                        random.random() * 10, #intensywność odoru
+                        random.random() * 50 #waga śmieci                        
+                    ))
+                else:
+                    field_array_2.append(GRASS)
+                    temp_priority.append(1)
+        field_array_1.append(field_array_2)
+        field_array_2 = []
+        field_priority.append(temp_priority)
+    return field_array_1, field_priority, request_list
\ No newline at end of file
diff --git a/request.py b/request.py
new file mode 100644
index 0000000..9064eb8
--- /dev/null
+++ b/request.py
@@ -0,0 +1,13 @@
+from dataclasses import dataclass
+
+@dataclass
+class Request:
+    def __init__(self, x_pos, y_pos, type, volume, last_collection, is_paid, odour_intensity, weight):
+        self.x_pos = x_pos
+        self.y_pos = y_pos
+        self.type = type
+        self.volume = volume
+        self.last_collection = last_collection
+        self.is_paid = is_paid
+        self.odour_intensity = odour_intensity
+        self.weight = weight
\ No newline at end of file
diff --git a/succ.py b/succ.py
index 8773dcd..07f73fa 100644
--- a/succ.py
+++ b/succ.py
@@ -5,27 +5,27 @@ FIELDWIDTH, FIELDCOUNT = 50, 16
 def succ(st: State, passedPriorities, goalx, goaly):
     successors = []
 
-    if st.orientation == 'N':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'W', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 'E', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+    if st.orientation == 3:
+        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 2, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 0, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
         if st.ypos > 0:
-            successors.append(State(st, 'FORWARD', st.xpos, st.ypos - FIELDWIDTH , 'N', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+            successors.append(State(st, 'FORWARD', st.xpos, st.ypos - FIELDWIDTH , 3, passedPriorities[st.xpos//50][st.ypos//50 - 1], heuristicfn(st.xpos, st.ypos - 50, goalx, goaly)))
     
-    if st.orientation == 'S':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'E', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 'W', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+    if st.orientation == 1:
+        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 0, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 2, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
         if st.ypos < FIELDWIDTH * (FIELDCOUNT  - 1):
-            successors.append(State(st, 'FORWARD', st.xpos, st.ypos + FIELDWIDTH , 'S', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+            successors.append(State(st, 'FORWARD', st.xpos, st.ypos + FIELDWIDTH , 1, passedPriorities[st.xpos//50][st.ypos//50 + 1], heuristicfn(st.xpos, st.ypos + 50, goalx, goaly)))
 
-    if st.orientation == 'W':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'S', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 'N', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+    if st.orientation == 2:
+        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 1, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 3, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
         if st.xpos > 0:
-            successors.append(State(st, 'FORWARD', st.xpos - FIELDWIDTH , st.ypos, 'W', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+            successors.append(State(st, 'FORWARD', st.xpos - FIELDWIDTH , st.ypos, 2, passedPriorities[st.xpos//50 - 1][st.ypos//50], heuristicfn(st.xpos - 50, st.ypos, goalx, goaly)))
 
-    if st.orientation == 'E':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'N', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 'S', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+    if st.orientation == 0:
+        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 3, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 1, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
         if st.xpos < FIELDWIDTH * (FIELDCOUNT  - 1):
-            successors.append(State(st, 'FORWARD', st.xpos + FIELDWIDTH , st.ypos, 'E', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
+            successors.append(State(st, 'FORWARD', st.xpos + FIELDWIDTH , st.ypos, 0, passedPriorities[st.xpos//50 + 1][st.ypos//50], heuristicfn(st.xpos + 50, st.ypos, goalx, goaly)))
     return successors
diff --git a/treelearn.py b/treelearn.py
new file mode 100644
index 0000000..7d20976
--- /dev/null
+++ b/treelearn.py
@@ -0,0 +1,20 @@
+import pandas as pd
+from sklearn import tree
+from sklearn.preprocessing import LabelEncoder
+import graphviz
+
+def treelearn():
+    train_data = pd.read_csv('./data_set.csv')
+    attributes = train_data.drop('collect', axis='columns')
+    e_type = LabelEncoder()
+    attributes['type_num'] = e_type.fit_transform(attributes['garbage_type'])
+    attr_encoded = attributes.drop(['garbage_type'], axis='columns')
+    attr_names = ['fuel','distance','space_occupied','days_since_last_collection','paid_on_time','odour_intensity','garbage_weight', 'garbage_type']
+    label_names = ['collect', 'no-collect']
+    label = train_data['collect']
+    classifier = tree.DecisionTreeClassifier()
+    classifier.fit(attr_encoded.values, label)
+    dot_data = tree.export_graphviz(classifier, out_file=None, feature_names=attr_names, class_names=label_names)
+    graph = graphviz.Source(dot_data)
+    graph.render('collect')
+    return classifier
\ No newline at end of file