diff --git a/AI_brain/rotate_and_go_astar.py b/AI_brain/rotate_and_go_aStar.py
similarity index 100%
rename from AI_brain/rotate_and_go_astar.py
rename to AI_brain/rotate_and_go_aStar.py
diff --git a/config.ini b/config.ini
index 87d6bac..e5d9dcf 100644
--- a/config.ini
+++ b/config.ini
@@ -1,4 +1,7 @@
 [APP]
 cat = False
 movement = robot
-#accept: human, robot
\ No newline at end of file
+#accept: human, robot
+
+[CONSTANT]
+NumberOfBananas = 20
\ No newline at end of file
diff --git a/decisionTree/decisionTree.jpg b/decisionTree/decisionTree.jpg
new file mode 100644
index 0000000..adac6da
Binary files /dev/null and b/decisionTree/decisionTree.jpg differ
diff --git a/decisionTree/itemDescription.txt b/decisionTree/itemDescription.txt
new file mode 100644
index 0000000..b45fcb6
--- /dev/null
+++ b/decisionTree/itemDescription.txt
@@ -0,0 +1,29 @@
+2-10 opakowania po cukierkach
+11-18 kałuże zwierząt
+19-28 odpady zwierzęce
+29-36 skarpetka
+37-44 kolczyk
+45 telefon
+46-48 banan
+49-57 zabawki
+58-61 kot
+62-65 pies
+66-79 kable
+80-91 włosy
+92-100 szkło
+101-108 ołówki 
+109-113 chomik
+114-122 baterie
+123-128 resztki owoców 
+129-140 etykiety
+141-149 bransoletki 
+150-158 opakowania od jedzenia 
+159-167 książki
+168-177 papierki
+178-179 pielucha dziecięca
+180,181 pokrywka
+182,183 wazon
+184,185 karm 
+186,187 dziecko
+188,189 pieniądze 
+190-198 kapcie
\ No newline at end of file
diff --git a/domain/commands/vacuum_move_command.py b/domain/commands/vacuum_move_command.py
index 258b0da..7cbb760 100644
--- a/domain/commands/vacuum_move_command.py
+++ b/domain/commands/vacuum_move_command.py
@@ -24,7 +24,7 @@ class VacuumMoveCommand(Command):
         tmp = self.world.is_garbage_at(end_x, end_y)
         if len(tmp) > 0:
             for t in tmp:
-                if self.vacuum.get_container_filling() < 1000:
+                if self.vacuum.get_container_filling() < 100:
                     self.vacuum.increase_container_filling()
                     self.world.dust[end_x][end_y].remove(t)
 
diff --git a/domain/entities/cat.py b/domain/entities/cat.py
index fb7901a..d4dc220 100644
--- a/domain/entities/cat.py
+++ b/domain/entities/cat.py
@@ -13,5 +13,5 @@ class Cat(Entity):
         self.busy = False
         self.sleeping = False
         self.direction = 0
-        
-        self.props = [4,2,20,0,1,32,37,5]
\ No newline at end of file
+
+        self.properties = [4, 2, 20, 0, 1, 32, 37, 5]
diff --git a/domain/entities/earring.py b/domain/entities/earring.py
index 03256c0..fbfb783 100644
--- a/domain/entities/earring.py
+++ b/domain/entities/earring.py
@@ -5,4 +5,4 @@ from domain.world import World
 class Earring(Entity):
     def __init__(self, x: int, y: int):
         super().__init__(x, y, "EARRING")
-        self.props = [1,9,0,1,0,1,20,0]
\ No newline at end of file
+        self.properties = [1, 9, 0, 1, 0, 1, 20, 0]
diff --git a/domain/entities/garbage.py b/domain/entities/garbage.py
index f451dd1..f5b3833 100644
--- a/domain/entities/garbage.py
+++ b/domain/entities/garbage.py
@@ -6,6 +6,6 @@ class Garbage(Entity):
         super().__init__(x, y, "PEEL")
         self.wet = False
         self.size = 0
-        self.props = [2,2,0,0,1,4,24,1]
+        self.properties = [2, 2, 0, 0, 1, 4, 24, 1]
 
         # TODO GARBAGE: add more properties
diff --git a/domain/entities/vacuum.py b/domain/entities/vacuum.py
index 8e01c4d..b34d8c0 100644
--- a/domain/entities/vacuum.py
+++ b/domain/entities/vacuum.py
@@ -11,7 +11,7 @@ class Vacuum(Entity):
         self.container_filling = 0
 
     def increase_container_filling(self) -> None:
-        self.container_filling += 25
+        self.container_filling += 5
 
     def dump_trash(self) -> None:
         self.container_filling = 0
diff --git a/domain/world.py b/domain/world.py
index fd72812..d3a7e8a 100644
--- a/domain/world.py
+++ b/domain/world.py
@@ -4,7 +4,7 @@ from domain.entities.entity import Entity
 
 class World:
     def __init__(self, width: int, height: int) -> object:
-        self.costs = [[1000 for j in range(height)] for i in range(width)]
+        self.costs = [[1 for j in range(height)] for i in range(width)]
         self.width = width
         self.height = height
         self.dust = [[[] for j in range(height)] for i in range(width)]
@@ -35,7 +35,7 @@ class World:
     def is_garbage_at(self, x: int, y: int):
         if len(self.dust[x][y]) == 0:
             return []
-        return [i for i in self.dust[x][y] if evaluate([i.props])[0] == 1]
+        return [i for i in self.dust[x][y] if evaluate([i.properties])[0] == 1]
 
     def is_docking_station_at(self, x: int, y: int) -> bool:
         return bool(self.doc_station.x == x and self.doc_station.y == y)
@@ -53,5 +53,6 @@ class World:
             return False
 
         return True
+
     def get_cost(self, x, y):
-        return self.costs[x][y]
\ No newline at end of file
+        return self.costs[x][y]
diff --git a/main.py b/main.py
index 03e2830..2b75c16 100644
--- a/main.py
+++ b/main.py
@@ -13,9 +13,10 @@ from domain.entities.earring import Earring
 from domain.entities.docking_station import Doc_Station
 from domain.world import World
 from view.renderer import Renderer
+
 # from AI_brain.movement import GoAnyDirectionBFS, State
 # from AI_brain.rotate_and_go_bfs import RotateAndGoBFS, State
-from AI_brain.rotate_and_go_astar import RotateAndGoAStar, State
+from AI_brain.rotate_and_go_aStar import RotateAndGoAStar, State
 
 
 config = configparser.ConfigParser()
@@ -97,12 +98,20 @@ class Main:
     def handle_action2(self, action):
         if action == "GO":
             self.commands.append(
-                VacuumMoveCommand(self.world, self.world.vacuum, self.world.vacuum.direction)
+                VacuumMoveCommand(
+                    self.world, self.world.vacuum, self.world.vacuum.direction
+                )
             )
         elif action == "RR":
-            self.world.vacuum.direction = (-self.world.vacuum.direction[1], self.world.vacuum.direction[0])
+            self.world.vacuum.direction = (
+                -self.world.vacuum.direction[1],
+                self.world.vacuum.direction[0],
+            )
         elif action == "RL":
-            self.world.vacuum.direction = (self.world.vacuum.direction[1], -self.world.vacuum.direction[0])
+            self.world.vacuum.direction = (
+                self.world.vacuum.direction[1],
+                -self.world.vacuum.direction[0],
+            )
 
     def process_input(self):
         for event in pygame.event.get():
@@ -136,7 +145,7 @@ class Main:
 
 def generate_world(tiles_x: int, tiles_y: int) -> World:
     world = World(tiles_x, tiles_y)
-    for _ in range(35):
+    for _ in range(config.getint("CONSTANT", "NumberOfBananas")):
         temp_x = randint(0, tiles_x - 1)
         temp_y = randint(0, tiles_y - 1)
         world.add_entity(Garbage(temp_x, temp_y))
@@ -153,7 +162,6 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
     world.add_entity(Earring(9, 7))
     world.add_entity(Earring(5, 5))
     world.add_entity(Earring(4, 6))
-    
 
     for x in range(world.width):
         for y in range(world.height):
@@ -163,6 +171,7 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
                 world.costs[x][y] = 10
     return world
 
+
 if __name__ == "__main__":
     app = Main()
     if config["APP"]["movement"] == "human":