i am so confused!! help me?

ok this past spring i met a guy (we worked together and we live in the same time), as time went by we became friends and we hung out. but last month i get a text from him telling me to leave him alone and not stalk him (but i didn't). so then last night i find out that a friend mine told him that i hated him and he wondered why. she told him its cuz of the things he said about me stalking him. she told me he has ADHD and is bipolar. and here all of a sudden today i saw him look at me and came up and stood there. i looked at him but didn't say anything but then i went up to him and told him that i don't hate him. so then he asked "do you wanna go to mcdonalds tonight at 8?" do you think i should? should i give this a chance to be my friend again. even though i didn't hate him?? thanks for your help.