diff --git a/.idea/Traktor AI.iml b/.idea/Traktor AI.iml
index 078ddf5..ff48265 100644
--- a/.idea/Traktor AI.iml	
+++ b/.idea/Traktor AI.iml	
@@ -4,7 +4,7 @@
     <content url="file://$MODULE_DIR$">
       <excludeFolder url="file://$MODULE_DIR$/venv" />
     </content>
-    <orderEntry type="jdk" jdkName="Python 3.10 (Traktor)" jdkType="Python SDK" />
+    <orderEntry type="jdk" jdkName="Python 3.9" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 6c75bb3..8d93904 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10 (Traktor)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/source/__pycache__/astar.cpython-39.pyc b/source/__pycache__/astar.cpython-39.pyc
new file mode 100644
index 0000000..d9b59f2
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new file mode 100644
index 0000000..d9ed805
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diff --git a/source/__pycache__/crop_protection_product.cpython-39.pyc b/source/__pycache__/crop_protection_product.cpython-39.pyc
new file mode 100644
index 0000000..42a84e3
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diff --git a/source/__pycache__/ground.cpython-39.pyc b/source/__pycache__/ground.cpython-39.pyc
new file mode 100644
index 0000000..d3c6d44
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diff --git a/source/__pycache__/plant.cpython-39.pyc b/source/__pycache__/plant.cpython-39.pyc
new file mode 100644
index 0000000..c7fc95f
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diff --git a/source/__pycache__/tile.cpython-39.pyc b/source/__pycache__/tile.cpython-39.pyc
new file mode 100644
index 0000000..a03d927
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diff --git a/source/area/__pycache__/__init__.cpython-39.pyc b/source/area/__pycache__/__init__.cpython-39.pyc
new file mode 100644
index 0000000..14026e7
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diff --git a/source/area/__pycache__/constants.cpython-39.pyc b/source/area/__pycache__/constants.cpython-39.pyc
new file mode 100644
index 0000000..77408d2
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diff --git a/source/area/__pycache__/field.cpython-39.pyc b/source/area/__pycache__/field.cpython-39.pyc
new file mode 100644
index 0000000..3badf32
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diff --git a/source/area/__pycache__/tractor.cpython-39.pyc b/source/area/__pycache__/tractor.cpython-39.pyc
new file mode 100644
index 0000000..d83674d
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diff --git a/source/astar.py b/source/astar.py
new file mode 100644
index 0000000..51634b3
--- /dev/null
+++ b/source/astar.py
@@ -0,0 +1,130 @@
+from area.constants import TILE_SIZE, ROWS
+import copy
+import heapq
+from area.field import tiles, fieldX, fieldY
+from bfs import get_moves
+
+class Node:
+
+    def __init__(self, priority, x, y, direction, parent, action, cost=0):
+        self.x = x
+        self.y = y
+        self.direction = direction
+        self.action = action
+        self.parent = parent
+        self.cost = cost
+        self.priority = priority
+
+
+    def __int__(self):
+        return self.priority
+
+        # getters and setters:
+
+    def get_parent(self):
+        return self.parent
+
+    def set_parent(self, _parent):
+        self.parent = _parent
+
+    def get_action(self):
+        return self.action
+
+    def set_action(self, _action):
+        self.parent = _action
+
+    def get_x(self):
+        return self.x
+
+    def set_x(self, _x):
+        self.x = _x
+
+    def get_y(self):
+        return self.y
+
+    def set_y(self, _y):
+        self.y = _y
+
+    def get_direction(self):
+        return self.direction
+
+    def set_direction(self, _direction):
+        self.parent = _direction
+
+    def get_cost(self):
+        return self.cost
+
+    def set_cost(self, _cost):
+        self.cost = _cost
+
+    def get_priority(self):
+        return self.priority
+
+    def set_priority(self, _priority):
+        self.priority = _priority
+
+    def __lt__(self, other):
+        return self.get_priority() < other.get_priority()
+
+    def copy(self):
+        return copy.copy(self)
+
+
+def goal_test(elem, goalstate):
+    if elem.get_x() == goalstate[0] and elem.get_y() == goalstate[1]:
+        return True
+    else:
+        return False
+
+def tile_cost(tile):
+    if tile.image == "resources/images/sampling.png":
+        return 100
+    else:
+        return 1
+
+def heuristic(current_x, current_y, end_x, end_y):
+    return abs(end_x - current_x) + abs(end_y - current_y)
+# State as a tuple (x,y,direction)
+
+# actions(string): move, rotate_to_left, rotate_to_right
+
+# main search function:
+def a_star(istate, succ, goaltest, tractor):
+    fringe = []
+    explored = set()
+    node = Node(0, istate.get_x(), istate.get_y(), istate.get_direction(), None, None, 0)
+    heapq.heappush(fringe, node)
+
+    while True:
+
+        if not fringe:
+            return False
+
+        elem = heapq.heappop(fringe)
+        temp = copy.copy(elem)
+        if goal_test(elem, goaltest) is True:  # jesli True zwroc ciag akcji
+            return get_moves(elem)
+
+        explored.add(elem)
+
+        for (action, state) in succ(temp, tractor):
+            fringe_tuple = []
+            explored_tuple = []
+
+            for node in fringe:
+                fringe_tuple.append((node.get_x(), node.get_y(), node.get_direction()))
+            for node in explored:
+                explored_tuple.append((node.get_x(), node.get_y(), node.get_direction()))
+
+
+            tile = int((temp.get_y() - fieldY) / TILE_SIZE) * ROWS + int((temp.get_x() - fieldX) / TILE_SIZE)
+            cost = temp.cost + tile_cost(tiles[tile])
+            priority = cost + heuristic(state[0], state[1], goaltest[0], goaltest[1])
+
+            x = Node(priority, state[0], state[1], state[2], elem, action, cost)
+
+            if state not in fringe_tuple and state not in explored_tuple:
+                heapq.heappush(fringe, x)
+
+            elif state in fringe_tuple and elem.get_priority() < priority:
+                elem.set_priority(priority)
diff --git a/source/main.py b/source/main.py
index d5de3ef..d2e3713 100644
--- a/source/main.py
+++ b/source/main.py
@@ -10,6 +10,7 @@ from area.field import get_tile_coordinates
 from ground import Dirt
 from plant import Plant
 from bfs import graphsearch, Istate, succ
+from astar import a_star
 WIN = pygame.display.set_mode((WIDTH, HEIGHT))
 pygame.display.set_caption('Intelligent tractor')
 
@@ -45,9 +46,11 @@ def main():
     tractor.rect.x += fieldX  
     tractor.rect.y += fieldY 
     tractor.tractor_start = ((istate.get_x(), istate.get_y()))
+    #tractor.tractor_start = ((istate.get_x(), istate.get_y(), istate.get_direction))
     tractor.tractor_end = ((goaltest[0], goaltest[1]))
 
-    moves = (graphsearch(istate, succ, goaltest, tractor))
+    #moves = (graphsearch(istate, succ, goaltest, tractor))
+    moves = (a_star(istate, succ, goaltest, tractor))
     print(moves)
 
 
diff --git a/source/tile.py b/source/tile.py
index c94e77a..654f59b 100644
--- a/source/tile.py
+++ b/source/tile.py
@@ -2,7 +2,7 @@ import random
 import os
 
 # path to plant images folder (used in randomize_photo function)
-folder_path = "resources\images\plant_photos" 
+folder_path = "resources/images/plant_photos"
 
 
 class Tile: