diff --git a/decision_tree/tree_as_txt.txt b/decision_tree/tree_as_txt.txt
index aaa701a..9b5c043 100644
--- a/decision_tree/tree_as_txt.txt
+++ b/decision_tree/tree_as_txt.txt
@@ -16,28 +16,6 @@
 |   |   |   |   |   |--- feature_1 <= 2.50
 |   |   |   |   |   |   |--- feature_0 <= 2.50
 |   |   |   |   |   |   |   |--- feature_1 <= 1.50
-|   |   |   |   |   |   |   |   |--- feature_2 <= 2.50
-|   |   |   |   |   |   |   |   |   |--- class: 1
-|   |   |   |   |   |   |   |   |--- feature_2 >  2.50
-|   |   |   |   |   |   |   |   |   |--- feature_4 <= 2.00
-|   |   |   |   |   |   |   |   |   |   |--- class: 1
-|   |   |   |   |   |   |   |   |   |--- feature_4 >  2.00
-|   |   |   |   |   |   |   |   |   |   |--- class: 0
-|   |   |   |   |   |   |   |--- feature_1 >  1.50
-|   |   |   |   |   |   |   |   |--- class: 0
-|   |   |   |   |   |   |--- feature_0 >  2.50
-|   |   |   |   |   |   |   |--- feature_4 <= 2.50
-|   |   |   |   |   |   |   |   |--- class: 1
-|   |   |   |   |   |   |   |--- feature_4 >  2.50
-|   |   |   |   |   |   |   |   |--- feature_2 <= 2.50
-|   |   |   |   |   |   |   |   |   |--- class: 1
-|   |   |   |   |   |   |   |   |--- feature_2 >  2.50
-|   |   |   |   |   |   |   |   |   |--- class: 0
-|   |   |   |   |   |--- feature_1 >  2.50
-|   |   |   |   |   |   |--- feature_0 <= 3.50
-|   |   |   |   |   |   |   |--- class: 0
-|   |   |   |   |   |   |--- feature_0 >  3.50
-|   |   |   |   |   |   |   |--- feature_1 <= 3.50
 |   |   |   |   |   |   |   |   |--- feature_4 <= 2.50
 |   |   |   |   |   |   |   |   |   |--- class: 1
 |   |   |   |   |   |   |   |   |--- feature_4 >  2.50
@@ -45,8 +23,30 @@
 |   |   |   |   |   |   |   |   |   |   |--- class: 1
 |   |   |   |   |   |   |   |   |   |--- feature_2 >  2.00
 |   |   |   |   |   |   |   |   |   |   |--- class: 0
-|   |   |   |   |   |   |   |--- feature_1 >  3.50
+|   |   |   |   |   |   |   |--- feature_1 >  1.50
 |   |   |   |   |   |   |   |   |--- class: 0
+|   |   |   |   |   |   |--- feature_0 >  2.50
+|   |   |   |   |   |   |   |--- feature_2 <= 2.50
+|   |   |   |   |   |   |   |   |--- class: 1
+|   |   |   |   |   |   |   |--- feature_2 >  2.50
+|   |   |   |   |   |   |   |   |--- feature_4 <= 2.50
+|   |   |   |   |   |   |   |   |   |--- class: 1
+|   |   |   |   |   |   |   |   |--- feature_4 >  2.50
+|   |   |   |   |   |   |   |   |   |--- class: 0
+|   |   |   |   |   |--- feature_1 >  2.50
+|   |   |   |   |   |   |--- feature_1 <= 3.50
+|   |   |   |   |   |   |   |--- feature_0 <= 3.50
+|   |   |   |   |   |   |   |   |--- class: 0
+|   |   |   |   |   |   |   |--- feature_0 >  3.50
+|   |   |   |   |   |   |   |   |--- feature_4 <= 2.50
+|   |   |   |   |   |   |   |   |   |--- class: 1
+|   |   |   |   |   |   |   |   |--- feature_4 >  2.50
+|   |   |   |   |   |   |   |   |   |--- feature_2 <= 2.00
+|   |   |   |   |   |   |   |   |   |   |--- class: 1
+|   |   |   |   |   |   |   |   |   |--- feature_2 >  2.00
+|   |   |   |   |   |   |   |   |   |   |--- class: 0
+|   |   |   |   |   |   |--- feature_1 >  3.50
+|   |   |   |   |   |   |   |--- class: 0
 |   |   |   |   |--- feature_3 >  4.50
 |   |   |   |   |   |--- class: 0
 |   |--- feature_4 >  3.50
@@ -59,13 +59,13 @@
 |   |   |   |   |   |   |--- class: 1
 |   |   |   |   |--- feature_3 >  3.50
 |   |   |   |   |   |--- feature_1 <= 2.50
-|   |   |   |   |   |   |--- feature_0 <= 2.50
-|   |   |   |   |   |   |   |--- class: 0
-|   |   |   |   |   |   |--- feature_0 >  2.50
-|   |   |   |   |   |   |   |--- feature_3 <= 4.50
-|   |   |   |   |   |   |   |   |--- class: 1
-|   |   |   |   |   |   |   |--- feature_3 >  4.50
+|   |   |   |   |   |   |--- feature_3 <= 4.50
+|   |   |   |   |   |   |   |--- feature_0 <= 2.50
 |   |   |   |   |   |   |   |   |--- class: 0
+|   |   |   |   |   |   |   |--- feature_0 >  2.50
+|   |   |   |   |   |   |   |   |--- class: 1
+|   |   |   |   |   |   |--- feature_3 >  4.50
+|   |   |   |   |   |   |   |--- class: 0
 |   |   |   |   |   |--- feature_1 >  2.50
 |   |   |   |   |   |   |--- class: 0
 |   |   |   |--- feature_4 >  4.50
@@ -76,13 +76,13 @@
 |   |--- feature_4 <= 1.50
 |   |   |--- feature_1 <= 1.50
 |   |   |   |--- feature_2 <= 4.50
-|   |   |   |   |--- feature_0 <= 1.50
-|   |   |   |   |   |--- class: 0
-|   |   |   |   |--- feature_0 >  1.50
-|   |   |   |   |   |--- feature_3 <= 4.50
-|   |   |   |   |   |   |--- class: 1
-|   |   |   |   |   |--- feature_3 >  4.50
+|   |   |   |   |--- feature_3 <= 4.50
+|   |   |   |   |   |--- feature_0 <= 1.50
 |   |   |   |   |   |   |--- class: 0
+|   |   |   |   |   |--- feature_0 >  1.50
+|   |   |   |   |   |   |--- class: 1
+|   |   |   |   |--- feature_3 >  4.50
+|   |   |   |   |   |--- class: 0
 |   |   |   |--- feature_2 >  4.50
 |   |   |   |   |--- class: 0
 |   |   |--- feature_1 >  1.50
diff --git a/decision_tree/tree_model b/decision_tree/tree_model
index bf4e0f6..c9ec1be 100644
Binary files a/decision_tree/tree_model and b/decision_tree/tree_model differ
diff --git a/genetic_algorithm/TSP.py b/genetic_algorithm/TSP.py
index 12553e0..e1f851e 100644
--- a/genetic_algorithm/TSP.py
+++ b/genetic_algorithm/TSP.py
@@ -4,7 +4,7 @@ from decision_tree import decisionTree
 
 # klasa tworząca miasta czy też śmietniki
 class City:
-    def __init__(self, x, y, dist):
+    def __init__(self, x, y):
         self.x = x
         self.y = y
         # self.dist = distance
diff --git a/last_map.nparr b/last_map.nparr
new file mode 100644
index 0000000..c739475
Binary files /dev/null and b/last_map.nparr differ
diff --git a/path_search_algorthms/a_star_controller.py b/path_search_algorthms/a_star_controller.py
new file mode 100644
index 0000000..ee1294f
--- /dev/null
+++ b/path_search_algorthms/a_star_controller.py
@@ -0,0 +1,26 @@
+import math
+from path_search_algorthms import a_star
+from settings import *
+
+def get_actions_by_coords(x, y, game):
+        # print('get_actions_by_coords')
+        # print(x, y, x/TILESIZE, y/TILESIZE)
+        offset_x, offset_y = game.camera.offset()
+        # print('offset ' + str(self.camera.offset()))
+        clicked_coords = [math.floor(x / TILESIZE) - offset_x, math.floor(y / TILESIZE) - offset_y]
+        # print(self.player.pos[0], self.player.pos[1], clicked_coords)
+        actions = a_star.search_path(math.floor(game.player.pos[0] / TILESIZE),
+                                        math.floor(game.player.pos[1] / TILESIZE), game.player.rotation(),
+                                        clicked_coords[0], clicked_coords[1], game.mapArray)
+        return actions
+
+def get_actions_for_target_coords(x, y, game):
+    actions = a_star.search_path(
+        math.floor(game.player.pos[0] / TILESIZE),
+        math.floor(game.player.pos[1] / TILESIZE),
+        game.player.rotation(),
+        x / TILESIZE,
+        y / TILESIZE,
+        game.mapArray
+    )
+    return actions
\ No newline at end of file