diff --git a/classes/Garbagetruck.py b/classes/Garbagetruck.py
index 08f89cb..7375f15 100644
--- a/classes/Garbagetruck.py
+++ b/classes/Garbagetruck.py
@@ -1,16 +1,21 @@
+import math
+import random
+
 import pygame
 from classes.Household import *
-from classes.Trashcan import *
+from classes.Node import *
+from classes.Trashcan import Trashcan
 
 
 class Garbagetruck:
 
-    def __init__(self):
+    def __init__(self, mult):
+        self.mult = mult
         self.capacity: int = 20
         self.trash: list = []
         self.trashweight: int = 0
-        self.image = pygame.image.load("sprites/garbage_truck.png").convert_alpha()
-        self.image = pygame.transform.scale(self.image, (32, 32))
+        self.image = pygame.image.load("sprites/smieciara.png").convert_alpha()
+        self.image = pygame.transform.scale(self.image, (mult, mult))
         self.position = [3, 3]
         self.houses: list = []
         self.trashcans: list = []
@@ -24,7 +29,34 @@ class Garbagetruck:
         self.scanner = None
         self.planner = None
         self.driver = None
+        self.orientation = 3  # Niech numery będą tak: N - 0, W - 1, S - 2, E - 3  -- po prostu odwrotnie do zegara
         self.runningtime = 0
+        self.movesequence = []
+        self.target = None
+
+    def getState(self):
+        return self.state
+
+    def setMovesequence(self, movesequence):
+        self.movesequence = movesequence
+        return self
+
+    def setTarget(self):
+        for place in self.houses:
+            if place.getFinal():
+                self.target = place
+                return
+        for place in self.trashcans:
+            if place.getFinal():
+                self.target = place
+                return
+
+    def getOrientation(self):
+        return self.orientation
+
+    def setOrientation(self, orientation):
+        self.orientation = orientation % 4
+        return self
 
     def getRunningtime(self):
         return self.runningtime
@@ -91,7 +123,8 @@ class Garbagetruck:
     def modPosiotion(self, modX, modY):
         x = self.getPosition()[0] + modX
         y = self.getPosition()[1] + modY
-        self.setPosition([x, y])
+        position = [x, y]
+        self.setPosition(position)
 
     def getRoute(self):
         return self.route
@@ -124,24 +157,157 @@ class Garbagetruck:
         dist = abs(lok1[0] - lok2[0]) + abs(lok1[1] - lok2[1])
         return dist
 
+    def selfdistance(self, target):
+        if isinstance(target, (Trashcan, Household)):
+            lok = target.getPosition()
+            own = self.getPosition()
+
+            dist = abs(lok[0] - own[0]) + abs(lok[1] - own[1])
+            return dist
+        return math.inf
+
     def scanTile(self):
         self.state = None
         temp = self.houses[:]
-        temp.append(self.trashcans[:])
+        temp.extend(self.trashcans[:])
         for loc in temp:
             if tuple(self.position) == loc.getPosition():
                 self.state = loc
                 return
+            else:
+                self.state = False
 
     def printme(self):
         x, y = self.getPosition()
-        return 32*x, 32*y
+        return self.mult*x, self.mult*y
 
     def throwGarbage(self, trash):
         if self.segregation[trash.getTtype()] == self.state.getTrashtype():
             self.addTrashweight(trash.getWeight * (-1))
             self.trash.remove(trash)
 
+    def rotateImage(self, arg):
+        self.image = pygame.transform.rotate(self.image, 90*arg)
+
+    def rotateLeft(self):
+        self.setOrientation(self.getOrientation()+1)
+        self.rotateImage(1)
+
+    def rotateRight(self):
+        self.setOrientation(self.getOrientation()-1)
+        self.rotateImage(-1)
+
+    def moveForward(self):
+        ort = self.orientation
+        x, y = self.getPosition()
+        stepX = 0
+        stepY = 0
+        if ort == 0 and y != 0:
+            stepY = -1
+        elif ort == 1 and x != 0:
+            stepX = -1
+        elif ort == 2 and y != 20:
+            stepY = 1
+        elif ort == 3 and x != 30:
+            stepX = 1
+        self.modPosiotion(stepX, stepY)
+
+    def graphsearch(self):
+        def succ(elem):
+            def virtRotateLeft(state):
+                ort = (state[-1] + 1) % 4
+                result = state[:]
+                result[-1] = ort
+                return result
+
+            def virtRotateRight(state):
+                ort = (state[-1] - 1) % 4
+                result = state[:]
+                result[-1] = ort
+                return result
+
+            def virtMoveForward(state):
+                ort = state[-1]
+                x, y = state[0], state[1]
+                stepX, stepY = 0, 0
+                if ort == 0 and y != 0:
+                    stepY = -1
+                elif ort == 1 and x != 0:
+                    stepX = -1
+                elif ort == 2 and y != 20:
+                    stepY = 1
+                elif ort == 3 and x != 30:
+                    stepX = 1
+                x += stepX
+                y += stepY
+                result = [x, y, ort]
+                return result
+
+            op = elem.getState()
+            forward = {"result": virtMoveForward(op), "action": "F"}
+            left = {"result": virtRotateLeft(op), "action": "L"}
+            right = {"result": virtRotateRight(op), "action": "R"}
+            # print("got children")
+            return [forward, left, right]
+
+        fringe = []
+        explored = []
+        target = self.target.getPosition()
+        temp = self.getPosition()[:]
+        temp.append(self.getOrientation())
+        initial = Node(temp)
+        fringe.append(initial)
+
+        while True:
+            fringPos = [item.getState() for item in fringe]
+            explPos = [item.getState() for item in explored]
+            if not fringe:
+                return False
+
+            elem = fringe.pop(0)
+            virtPos = elem.getState()[:-1]
+            dist = abs(virtPos[0]-target[0]) + abs(virtPos[1]-target[1])
+            if dist == 0:
+                def findWay(node):
+                    temp = node
+                    movelist = []
+                    while temp:
+                        movelist.append(temp.getAction())
+                        temp = temp.getParent()
+                    return movelist
+
+                lista = findWay(elem)
+                result = lista[::-1]
+                result.pop(0)
+                return result
+
+            explored.append(elem)
+            suc = succ(elem)
+            for wynik in suc:
+                if wynik['result'] not in fringPos and wynik['result'] not in explPos:
+                    x = Node(wynik["result"])
+                    x.setParent(elem)
+                    x.setAction(wynik["action"])
+                    fringe.append(x)
+
+    def executeMovement(self):
+        element = self.movesequence.pop(0) if self.movesequence else ""
+        if element == "L":
+            self.rotateLeft()
+        elif element == "R":
+            self.rotateRight()
+        elif element == "F":
+            self.moveForward()
+
+    def randomTarget(self):
+        wybor1 = random.choice([1,2])
+        if wybor1 == 1:
+            wybor2 = random.choice(self.houses)
+        else:
+            wybor2 = random.choice(self.trashcans)
+        wybor2.switchFinal()
+        # print(wybor2)
+
     def classifyTrash(self):
         pass
 #     Tutaj jest plan żeby dopiero napisać funkcję jak już będzie klasyfikator
diff --git a/classes/Household.py b/classes/Household.py
index 17b03ef..ac5069f 100644
--- a/classes/Household.py
+++ b/classes/Household.py
@@ -2,11 +2,20 @@ from classes.Garbage import *
 
 
 class Household:
-    def __init__(self):
+    def __init__(self, mult):
+        self.mult = mult
         self.id: int = 0
         self.image: object = None
         self.position: tuple = None
         self.garbage: object = Garbage()
+        self.final = False
+
+    def getFinal(self):
+        return self.final
+
+    def switchFinal(self):
+        self.final = False if self.final else True
+        return self
 
     def setPosition(self, position: tuple):
         self.position = position
@@ -38,16 +47,16 @@ class Household:
 
     def printme(self):
         x, y = self.getPosition()
-        return 32*x, 32*y
+        return self.mult*x, self.mult*y
 
 
-def generateHousehold(i, image, position):
+def generateHousehold(mult, i, image, position):
     """
     :param int i:
     :param object image:
     :param tuple position:
     :return:
     """
-    house = Household()
+    house = Household(mult)
     house.setId(i).setImage(image).setPosition(position)
     return house
diff --git a/classes/Node.py b/classes/Node.py
new file mode 100644
index 0000000..801782f
--- /dev/null
+++ b/classes/Node.py
@@ -0,0 +1,22 @@
+class Node:
+    def __init__(self, state):
+        self.state = state
+        self.action = ""
+        self.parent: Node = None
+
+    def getState(self):
+        return self.state
+
+    def getAction(self):
+        return self.action
+
+    def setAction(self, action):
+        self.action = action
+        return self
+
+    def getParent(self):
+        return self.parent if self.parent else False
+
+    def setParent(self, parent):
+        self.parent = parent
+        return self
diff --git a/classes/Tilemap.py b/classes/Tilemap.py
index 8acc24c..1e46463 100644
--- a/classes/Tilemap.py
+++ b/classes/Tilemap.py
@@ -4,32 +4,32 @@ import numpy as np
 
 class Tilemap:
 
-    def __init__(self, tileset, size=(30, 20), rect=None):
+    def __init__(self, tileset, mult, size=(30, 20), rect=None):
         self.size = size
         self.tileset = tileset
         self.map = np.zeros(size, dtype=int)
         w, h = self.size
-        self.image = pygame.Surface((32*w, 32*h))
+        self.image = pygame.Surface((mult*w, mult*h))
         if rect:
             self.rect = pygame.Rect(rect)
         else:
             self.rect = self.image.get_rect()
 
-    def render(self):
+    def render(self, mult):
         m, n = self.map.shape
         for i in range(m):
             for j in range(n):
                 tile = self.tileset.tiles[self.map[i, j]]
-                self.image.blit(tile, (i*32, j*32))
+                self.image.blit(tile, (i*mult, j*mult))
 
-    def set_zero(self):
+    def set_zero(self, mult):
         self.map = np.zeros(self.size, dtype=int)
-        self.render()
+        self.render(mult)
 
-    def set_random(self):
+    def set_random(self, mult):
         n = len(self.tileset.tiles)
         self.map = np.random.randint(n, size=self.size)
-        self.render()
+        self.render(mult)
 
     def __str__(self):
         return f'{self.__class__.__name__} {self.size}'
diff --git a/classes/Tileset.py b/classes/Tileset.py
index c240795..230a799 100644
--- a/classes/Tileset.py
+++ b/classes/Tileset.py
@@ -3,12 +3,13 @@ import pygame
 
 class Tileset:
 
-    def __init__(self, file, size=(32, 32), margin=1, spacing=1):
+    def __init__(self, file, mult, margin=1, spacing=1):
         self.file = file
-        self.size = size
+        self.size = (mult, mult)
         self.margin = margin
         self.spacing = spacing
         self.image = pygame.image.load(file)
+        self.image = pygame.transform.scale(self.image, self.size)
         self.rect = self.image.get_rect()
         self.tiles = []
         self.load()
diff --git a/classes/Trashcan.py b/classes/Trashcan.py
index 9cb21d1..ced73c1 100644
--- a/classes/Trashcan.py
+++ b/classes/Trashcan.py
@@ -1,9 +1,18 @@
 class Trashcan:
-    def __init__(self):
+    def __init__(self, mult):
+        self.mult = mult
         self.id: int = 0
         self.image: object = None
         self.position: tuple = None
         self.trashtype: str = None
+        self.final = False
+
+    def getFinal(self):
+        return self.final
+
+    def switchFinal(self):
+        self.final = False if self.final else True
+        return self
 
     def setPosition(self, position: tuple):
         self.position = position
@@ -35,10 +44,10 @@ class Trashcan:
 
     def printme(self):
         x, y = self.getPosition()
-        return 32*x, 32*y
+        return self.mult*x, self.mult*y
 
 
-def generateTrashcan(newId, image, position, trashtype):
+def generateTrashcan(mult, newId, image, position, trashtype):
     """
     :param int newId:
     :param string image:
@@ -46,6 +55,6 @@ def generateTrashcan(newId, image, position, trashtype):
     :param string trashtype:
     :return object Trashcan:
     """
-    trash = Trashcan()
+    trash = Trashcan(mult)
     trash.setId(newId).setImage(image).setPosition(position).setTrashtype(trashtype)
     return trash
diff --git a/generators.py b/generators.py
index 40e7622..416a553 100644
--- a/generators.py
+++ b/generators.py
@@ -7,7 +7,7 @@ from QOLfunc import *
 import pygame
 
 
-def trashcanGenerator() -> list:
+def trashcanGenerator(mult) -> list:
     typelist = ["paper", "metals_and_plastics", "mixed", "bio_waste", "glass"]
     trash_cans = [
         {'position': (1, 0), 'type': 'paper'},
@@ -25,22 +25,25 @@ def trashcanGenerator() -> list:
     }
     trashcans = []
     for key in trash_can_images:
-        trash_can_images[key] = pygame.transform.scale(trash_can_images[key], (32,32))
+        trash_can_images[key] = pygame.transform.scale(trash_can_images[key], (mult, mult))
     for i in range(5):
-        trashcan = generateTrashcan(i, trash_can_images[typelist[i]], trash_cans[i]["position"], trash_cans[i]["type"])
+        trashcan = generateTrashcan(mult, i, trash_can_images[typelist[i]], trash_cans[i]["position"],
+                                    trash_cans[i]["type"])
         trashcans.append(trashcan)
 
     return trashcans
 
 
-def householdGenerator():
-    new_house_size = (32, 32)
+def householdGenerator(mult):
+    new_house_size = (mult, mult)
     house_positions = [(15, 5), (17, 5), (19, 5), (21, 5), (15, 8), (17, 8), (19, 8), (21, 8)]
     houses = []
     for i in range(8):
         house_image = pygame.image.load(f'sprites/domek.png')
         house_image = pygame.transform.scale(house_image, new_house_size)
-        house = generateHousehold(i, house_image, house_positions[i])
+        house = generateHousehold(mult, i, house_image, house_positions[i])
+        if i == 1:
+            house.switchFinal()
         houses.append(house)
 
     return houses
diff --git a/main.py b/main.py
index bf10913..420c67a 100644
--- a/main.py
+++ b/main.py
@@ -1,16 +1,21 @@
+import pygame.transform
+
 from generators import *
+import time
 
 W = 30
 H = 20
-MULT = 32
+MULT = 50
 SIZE = (MULT*W, MULT*H)
 pygame.init()
 screen = pygame.display.set_mode(SIZE)
-tilemap = Tilemap(Tileset("sprites/Tiles/1 Tiles/FieldsTile_38.png"), (W, H))
+tilemap = Tilemap(Tileset("sprites/Tiles/1 Tiles/FieldsTile_38.png", mult=MULT), mult=MULT, size=(W, H))
+targimage = pygame.image.load("sprites/X.png").convert_alpha()
+targimage = pygame.transform.scale(targimage, (MULT, MULT))
 
-trashcans = trashcanGenerator()
-houses = householdGenerator()
-garbagetruck = Garbagetruck().setHouses(houses).setTrashcans(trashcans)
+trashcans = trashcanGenerator(MULT)
+houses = householdGenerator(MULT)
+garbagetruck = Garbagetruck(MULT).setHouses(houses).setTrashcans(trashcans)
 
 running = True
 while running:
@@ -18,14 +23,33 @@ while running:
         if event.type == pygame.QUIT:
             running = False
 
+    print(garbagetruck.movesequence)
+    garbagetruck.setTarget()
+    garbagetruck.executeMovement()
     screen.fill((0, 0, 0))
-    tilemap.render()
+    tilemap.render(MULT)
     screen.blit(tilemap.image, tilemap.rect)
-    screen.blit(garbagetruck.getImage(), garbagetruck.printme())
     for i in trashcans:
         screen.blit(i.getImage(), i.printme())
     for h in houses:
         screen.blit(h.getImage(), h.printme())
+    print(garbagetruck.getPosition())
+    bruh = garbagetruck.target.getPosition()
+    bruhlist = [i*MULT for i in bruh]
+    screen.blit(targimage, bruhlist)
+    screen.blit(garbagetruck.getImage(), garbagetruck.printme())
     pygame.display.update()
+    garbagetruck.scanTile()
+    state = garbagetruck.getState()
+    if not garbagetruck.movesequence:
+        moves = garbagetruck.graphsearch()
+        garbagetruck.setMovesequence(moves)
+    if state:
+        if state.getFinal():
+            garbagetruck.getState().switchFinal()
+        elif not garbagetruck.movesequence:
+            garbagetruck.randomTarget()
+    time.sleep(0.5)
+
 
 pygame.quit()
diff --git a/sprites/TIles/1 Tiles/FieldsTile_01.png b/sprites/TIles/1 Tiles/FieldsTile_01.png
new file mode 100644
index 0000000..d359f30
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_02.png b/sprites/TIles/1 Tiles/FieldsTile_02.png
new file mode 100644
index 0000000..713909e
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_03.png b/sprites/TIles/1 Tiles/FieldsTile_03.png
new file mode 100644
index 0000000..6e07a78
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_04.png b/sprites/TIles/1 Tiles/FieldsTile_04.png
new file mode 100644
index 0000000..563f489
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_05.png b/sprites/TIles/1 Tiles/FieldsTile_05.png
new file mode 100644
index 0000000..17e2adf
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_06.png b/sprites/TIles/1 Tiles/FieldsTile_06.png
new file mode 100644
index 0000000..2e37610
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_07.png b/sprites/TIles/1 Tiles/FieldsTile_07.png
new file mode 100644
index 0000000..9029c7b
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_08.png b/sprites/TIles/1 Tiles/FieldsTile_08.png
new file mode 100644
index 0000000..10ff6ad
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_09.png b/sprites/TIles/1 Tiles/FieldsTile_09.png
new file mode 100644
index 0000000..1c2d91c
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_10.png b/sprites/TIles/1 Tiles/FieldsTile_10.png
new file mode 100644
index 0000000..d212b8d
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_11.png b/sprites/TIles/1 Tiles/FieldsTile_11.png
new file mode 100644
index 0000000..ba458e9
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_12.png b/sprites/TIles/1 Tiles/FieldsTile_12.png
new file mode 100644
index 0000000..c5acc16
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_13.png b/sprites/TIles/1 Tiles/FieldsTile_13.png
new file mode 100644
index 0000000..d691a90
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_14.png b/sprites/TIles/1 Tiles/FieldsTile_14.png
new file mode 100644
index 0000000..cce9bb2
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_15.png b/sprites/TIles/1 Tiles/FieldsTile_15.png
new file mode 100644
index 0000000..0717417
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_16.png b/sprites/TIles/1 Tiles/FieldsTile_16.png
new file mode 100644
index 0000000..714b8ec
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_17.png b/sprites/TIles/1 Tiles/FieldsTile_17.png
new file mode 100644
index 0000000..fef1a0e
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_18.png b/sprites/TIles/1 Tiles/FieldsTile_18.png
new file mode 100644
index 0000000..9ecec36
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_19.png b/sprites/TIles/1 Tiles/FieldsTile_19.png
new file mode 100644
index 0000000..e8399f8
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_20.png b/sprites/TIles/1 Tiles/FieldsTile_20.png
new file mode 100644
index 0000000..c5d814b
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_21.png b/sprites/TIles/1 Tiles/FieldsTile_21.png
new file mode 100644
index 0000000..ea69e70
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_22.png b/sprites/TIles/1 Tiles/FieldsTile_22.png
new file mode 100644
index 0000000..c31bc5a
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_23.png b/sprites/TIles/1 Tiles/FieldsTile_23.png
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index 0000000..0094644
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_24.png b/sprites/TIles/1 Tiles/FieldsTile_24.png
new file mode 100644
index 0000000..50aee92
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diff --git a/sprites/TIles/1 Tiles/FieldsTile_25.png b/sprites/TIles/1 Tiles/FieldsTile_25.png
new file mode 100644
index 0000000..4074827
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