robot.py

### DO NOT EDIT THIS FILE ###

import arcade
import numpy as np

import settings


# The Robot class
class Robot:

    # Initialisation function to create a new robot
    def __init__(self):

        # The robot's action range.
        self.min_action = -0.05
        self.max_action = 0.05

        # The robot's current position.
        self.state = np.array([0.5, 0.5])

    # Function that is called once every loop, to allow the robot to take an action and then update its position
    def take_action(self, action, environment):

        # Make sure that the action is within the minimum and maximum range
        action[0] = np.clip(action[0], self.min_action, self.max_action)
        action[1] = np.clip(action[1], self.min_action, self.max_action)

        # Execute the action and update the robot's position
        self.state = environment.dynamics(self.state, action)

    # Function to draw the robot
    def draw(self):
        # Draw a blue circle onto the screen representing the robot
        arcade.draw_circle_filled(settings.SCREEN_SIZE * self.state[0], settings.SCREEN_SIZE * self.state[1], settings.ROBOT_SIZE, settings.ROBOT_COLOUR)