diff --git a/Astar.py b/src/control/Astar.py
similarity index 100%
rename from Astar.py
rename to src/control/Astar.py
diff --git a/mpc_along_trajectory.py b/src/control/mpc_along_trajectory.py
similarity index 90%
rename from mpc_along_trajectory.py
rename to src/control/mpc_along_trajectory.py
index d319779..887f27e 100644
--- a/mpc_along_trajectory.py
+++ b/src/control/mpc_along_trajectory.py
@@ -3,7 +3,7 @@ from Astar import *
 
 poses = load_poses('pose_gt.csv')
 sparseness = 100
-print(poses.shape[0]/sparseness)
+# print(poses.shape[0]/sparseness)
 # plot_position(poses[1::sparseness])
 sparse_poses = poses[1::sparseness, 1:3]
 
@@ -16,8 +16,8 @@ goal_idx = np.random.randint(sparse_poses.shape[0])
 cur_node, parent_idx = Astar(start_idx, goal_idx, sparse_poses, k=20)
 path = find_path(cur_node, parent_idx, start_idx)
 # print(time.time() - start_time)
-print(start_idx, goal_idx)
-print(path)
+#print(start_idx, goal_idx)
+#print(path)
 # print(len(path))
 # print(total_dist(path))
 
@@ -48,4 +48,4 @@ for interval in range(len(path)//T):
                                                 dt, lr, T, max_speed, min_speed)
   speed_now = xstar.value[2,-1]
   theta = xstar.value[3,-1]
-  print(ustar.value)
\ No newline at end of file
+  print(ustar.value)
diff --git a/mpc_func.py b/src/control/mpc_func.py
similarity index 100%
rename from mpc_func.py
rename to src/control/mpc_func.py
diff --git a/one_round_demo.py b/src/control/one_round_demo.py
similarity index 100%
rename from one_round_demo.py
rename to src/control/one_round_demo.py