diff --git a/carlo/agents.py b/carlo/agents.py
index ee9c273..0b2888e 100644
--- a/carlo/agents.py
+++ b/carlo/agents.py
@@ -11,6 +11,21 @@ def __init__(self, center: Point, heading: float, color: str = 'red'):
         super(Car, self).__init__(center, heading, size, movable, friction)
         self.color = color
         self.collidable = True
+
+    def get_reward(self, collision_exists: bool, reached_goal: bool):
+        # r = r(s, a)
+        # - large positive reward for reaching the goal
+        # - large negative reward for colliding or going off the road
+        # - small negative reward for every tick we have not reached the goal
+        r = 0
+        if collision_exists:
+            r = r - 1000
+        elif reached_goal:
+            r = r + 100000
+        else:
+            r = r - 1
+
+        return r
         
 class Pedestrian(CircleEntity):
     def __init__(self, center: Point, heading: float, color: str = 'LightSalmon3'): # after careful consideration, I decided my color is the same as a salmon, so here we go.
diff --git a/simple_world.py b/simple_world.py
index 8a79fea..a559cf3 100644
--- a/simple_world.py
+++ b/simple_world.py
@@ -27,10 +27,16 @@
 w.add(carlo.RectangleBuilding(carlo.Point(40, 70), carlo.Point(15, 2), '#FF6103'))
 w.add(carlo.RectangleBuilding(carlo.Point(40, 77), carlo.Point(15, 2), '#FF6103'))
 
+goal = carlo.Painting(carlo.Point(60, 100), carlo.Point(40, 1), 'green')
+
+w.add(goal) # We build a goal.
+
 # A Car object is a dynamic object -- it can move. We construct it using its center location and heading angle.
 c1 = carlo.Car(carlo.Point(40,10), np.pi/2)
 w.add(c1)
-c1.set_control(0, 0.55)
+c1.set_control(0.0, 0.55)
+# TODO: make this a constant size to run faster
+r1 = []
 
 c2 = carlo.Car(carlo.Point(60,10), np.pi/2, 'blue')
 w.add(c2)
@@ -39,10 +45,23 @@
 	w.render()
 	w.tick()
 	time.sleep(dt/4)
+
+	c1_collided = w.collision_exists(c1)
+	c2_collided = w.collision_exists(c2)
+	c1_reached_goal = c1.collidesWith(goal)
+	r1.append(c1.get_reward(c1_collided, c1_reached_goal))
+
+	print(c1.center)
+
+	print("Reward: ", c1.get_reward(c1_collided, c1_reached_goal))
+
 	# print("Red car position: ", c1.center)
-	if w.collision_exists(c1):
+	if c1_collided:
 		print('Red car collided with something...')
-	if w.collision_exists(c2):
+	if c2_collided:
 		print('Blue car collided with something...')
+	if c1_reached_goal:
+		print('Red car reached goal')
+