feat(PPO_Bot): command abstraction layer — goto/aimTo controllers (#24)

- Add gotoTick/aimToTick controller functions (#25)
- Update network dims: actor 5→6, state 42→44 (#26)
- Rewrite mapActions for 6-dim command space (#27)
- Delete stale weight files (shape mismatch)
- Fix existing tests for new signatures

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

PPO_Bot/tests/test_network.nim

@@ -11,16 +11,16 @@ func isNaNF(x: float32): bool = classify(x) == fcNan
 
 when isMainModule:
   # ---- MLP forward shape ----
-  let mlp = initMLP(42, 64, 5)
-  let inp = zeros[float32](42)
+  let mlp = initMLP(STATE_DIM, 64, ACTION_DIM)
+  let inp = zeros[float32](STATE_DIM)
   let mlpOut = mlp.forward(inp)
-  assert mlpOut.shape[0] == 5, &"MLP output shape wrong: {mlpOut.shape}"
+  assert mlpOut.shape[0] == ACTION_DIM, &"MLP output shape wrong: {mlpOut.shape}"
 
   # ---- ActorCritic actorForward ----
   let ac = initActorCritic()
-  let state = zeros[float32](42)
+  let state = zeros[float32](STATE_DIM)
   let (acts, logP) = ac.actorForward(state)
-  assert acts.shape[0] == 5, &"actorForward actions shape wrong: {acts.shape}"
+  assert acts.shape[0] == ACTION_DIM, &"actorForward actions shape wrong: {acts.shape}"
   assert not isNaNF(logP),   "logProb is NaN"
   assert isFiniteF(logP),    &"logProb not finite: {logP}"
 
@@ -31,23 +31,20 @@ when isMainModule:
 
   # ---- logStd floor: collapsing logStd should not break actorForward ----
   var ac2 = initActorCritic()
-  for i in 0..<5: ac2.logStd[i] = -10.0'f32
+  for i in 0..<ACTION_DIM: ac2.logStd[i] = -10.0'f32
   let (acts2, logP2) = ac2.actorForward(state)
-  assert acts2.shape[0] == 5, "acts2 shape wrong after logStd=-10"
+  assert acts2.shape[0] == ACTION_DIM, "acts2 shape wrong after logStd=-10"
   assert isFiniteF(logP2),    &"logP2 not finite with floored logStd: {logP2}"
 
   # ---- action mapping ranges ----
-  let raw = randomNormalTensor[float32](5)
+  let raw = randomNormalTensor[float32](ACTION_DIM)
   let speed = 4.0'f32
-  let botActs = mapActions(raw, speed, 0.0'f32)  # gunHeat=0 → fire allowed
+  # arena 800×600, bot at centre, heading north, gun north
+  let botActs = mapActions(raw, 0.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0)  # gunHeat=0 → fire allowed
 
   assert botActs.targetSpeed >= -8.0'f32 and botActs.targetSpeed <= 8.0'f32,
     &"targetSpeed out of range: {botActs.targetSpeed}"
 
-  let maxTurn = 10.0'f32 - 0.75'f32 * abs(speed)  # = 7.0
-  assert botActs.turnRate >= -maxTurn and botActs.turnRate <= maxTurn,
-    &"turnRate out of range: {botActs.turnRate}"
-
   assert botActs.gunTurnRate >= -20.0'f32 and botActs.gunTurnRate <= 20.0'f32,
     &"gunTurnRate out of range: {botActs.gunTurnRate}"
 
@@ -55,7 +52,7 @@ when isMainModule:
     &"firePower out of range: {botActs.firePower}"
 
   # shouldFire=false when gunHeat > 0
-  let noFire = mapActions(raw, speed, 1.0'f32)
+  let noFire = mapActions(raw, 1.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0)
   assert not noFire.shouldFire, "shouldFire should be false when gunHeat > 0"
 
   echo "All tests passed"