diff --git a/tiles.py b/tiles.py
index 8b9f4f1..f806b4a 100644
--- a/tiles.py
+++ b/tiles.py
@@ -57,7 +57,6 @@ class Waiter:
         self.loc[0] += 32
 
 
-
 class Table:
     def __init__(self, loc, num):
         self.loc = loc
@@ -219,12 +218,12 @@ def numToX(num):
 
 
 def numToY(num):
-    y = (math.floor(num/20)) * 32
+    y = (math.floor(num / 20)) * 32
     return y
 
 
 def coordsToNum(coords):
-    num = ((coords[1]//32) * 20) + (coords[0]//32)
+    num = ((coords[1] // 32) * 20) + (coords[0] // 32)
     return int(num)
 
 
@@ -237,29 +236,30 @@ def waiterGo(dest):
         if go[x] == -20:
             waiter.down()
             display.blit(waiterImgD, (waiter.loc[0], waiter.loc[1]))
-            #waiter.render(display)
+            # waiter.render(display)
             pygame.display.update()
 
             time.sleep(0.2)
         elif go[x] == 20:
             waiter.up()
             display.blit(waiterImg, (waiter.loc[0], waiter.loc[1]))
-            #waiter.render(display)
+            # waiter.render(display)
             pygame.display.update()
             time.sleep(0.2)
         elif go[x] == 1:
             waiter.left()
             display.blit(waiterImgL, (waiter.loc[0], waiter.loc[1]))
-            #waiter.render(display)
+            # waiter.render(display)
             pygame.display.update()
             time.sleep(0.2)
         elif go[x] == -1:
             waiter.right()
             display.blit(waiterImgR, (waiter.loc[0], waiter.loc[1]))
-            #waiter.render(display)
+            # waiter.render(display)
             pygame.display.update()
             time.sleep(0.2)
 
+
 def mouseToNum():
     x = pygame.mouse.get_pos()[0]
     y = pygame.mouse.get_pos()[1]
@@ -268,6 +268,86 @@ def mouseToNum():
     return squareNum
 
 
+class Map:
+    def __init__(self):
+        self.arr = np.zeros((20, 20))
+        self.arr[1:19, 1:19] = 1
+
+    def add_chair(self, loc):
+        self.arr[loc[0] // 32, loc[1] // 32] = 100
+
+    def add_table(self, loc):
+        self.arr[loc[0] // 32, loc[1] // 32] = 200
+
+    def get_arr(self):
+        return self.arr.transpose()
+
+
+class Tile():
+    def __init__(self, parent=None, loc=None):
+        self.parent = parent
+        self.position = loc
+        self.g = 0
+        self.h = 0
+        self.f = 0
+
+    def __eq__(self, other):
+        return self.position == other.position
+
+
+def astar(map, start, end):
+    start_tile = Tile(None, start)
+    start_tile.g = start_tile.h = start_tile.f = 0
+    end_tile = Tile(None, end)
+    end_tile.g = end_tile.h = end_tile.f = 0
+    open_list = []
+    closed_list = []
+    open_list.append(start_tile)
+
+    while len(open_list) > 0:
+        current_tile = open_list[0]
+        current_index = 0
+        for index, item in enumerate(open_list):
+            if item.f < current_tile.f:
+                current_tile = item
+                current_index = index
+
+        open_list.pop(current_index)
+        closed_list.append(current_tile)
+
+        if current_tile == end_tile:
+            path = []
+            current = current_tile
+            while current is not None:
+                path.append(current.position)
+                current = current.parent
+            return path[::-1]
+        children = []
+
+        for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
+            tile_position = (current_tile.position[0] + new_position[0], current_tile.position[1] + new_position[1])
+            if map[tile_position[0]][tile_position[1]] == 0:
+                continue
+            new_node = Tile(current_tile, tile_position)
+            children.append(new_node)
+        for child in children:
+            for closed_child in closed_list:
+                if child == closed_child:
+                    continue
+
+            child.g = current_tile.g + map[child.position[0]][child.position[1]]
+            child.h = ((child.position[0] - end_tile.position[0]) ** 2) + (
+                        (child.position[1] - end_tile.position[1]) ** 2)
+            child.f = child.g + child.h
+
+            for open_node in open_list:
+                if child == open_node and child.g > open_node.g:
+                    continue
+            open_list.append(child)
+
+
+
+map = Map()
 waiter = Waiter([32, 32])
 tables = []
 chairs = []
@@ -280,12 +360,14 @@ for i in range(16):
     arr = []
     for j in range(0, tables[i].get_number_of_chairs()):
         arr.append(Chair(pos_of_chair(tables_coordinates[i], j)))
+        map.add_chair(Chair(pos_of_chair(tables_coordinates[i], j)).loc)
     chairs.append(arr)
-
+for table in tables:
+    map.add_table(table.loc)
 
 
 def main():
-
+    direction = []
     while True:
 
         clock.tick(10)
@@ -294,7 +376,6 @@ def main():
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 quit()
-
         if keys[pygame.K_ESCAPE]:
             quit()
 
@@ -305,28 +386,37 @@ def main():
                     display.blit(tile, (x * gameMap.tilewidth, y * gameMap.tileheight))
 
         waiter.handle_events()
-
         for table in tables:
             table.render(display)
         for chair_list in chairs:
             for chair in chair_list:
                 chair.render(display)
-
         key = pygame.key.get_pressed()
         left, middle, right = pygame.mouse.get_pressed()
-
         if left:
             waiterGo(mouseToNum())
 
+        elif right:
+            goal = (18, 18)
+            route = astar(map.get_arr(), (waiter.loc[1] // 32, waiter.loc[0] // 32), goal)
+            direction = [(x[1] - y[1], x[0] - y[0]) for x, y in zip(route[1:], route)]
+        if len(direction) > 0:
+            d = direction.pop(0)
+            if d[0] == 1:
+                waiter.right()
+            elif d[0] == -1:
+                waiter.left()
+            elif d[1] == 1:
+                waiter.down()
+            elif d[1] == -1:
+                waiter.up()
+
         key = pygame.key.get_pressed()
         if key[pygame.K_p]:
             pass
-
         waiter.render(display)
         pygame.display.update()
 
 
-
 if __name__ == '__main__':
     main()
-