feat(BNNBot): Hebbian weight matrix with virtual bullet learning — 870→7 bit forward pass

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

BNNBot_garage/src/binary_encoding.nim

@@ -136,3 +136,30 @@ proc hammingDistance*(a, b: BinaryVector): int =
 proc bitwiseAnd*(a, b: BinaryVector): BinaryVector =
   for i in 0..<TOTAL_BITS:
     result[i] = a[i] and b[i]
+
+# Output encoding -------------------------------------------------------
+
+const
+  OUTPUT_BITS* = 7
+  AIM_MIN*     = -60.0
+  AIM_MAX*     =  60.0
+
+type OutputVector* = array[OUTPUT_BITS, uint8]
+
+proc encodeOutput*(angle: float): OutputVector =
+  let clamped = clamp(angle, AIM_MIN, AIM_MAX)
+  let intVal  = int((clamped - AIM_MIN) / (AIM_MAX - AIM_MIN) * 127.0)
+  let gray    = toGray(intVal)
+  for i in 0..<OUTPUT_BITS:
+    result[OUTPUT_BITS - 1 - i] = uint8((gray shr i) and 1)
+
+proc decodeOutput*(vec: OutputVector): float =
+  var val = 0
+  for i in 0..<OUTPUT_BITS:
+    val = (val shl 1) or int(vec[i])
+  var binary = val
+  var mask   = binary shr 1
+  while mask > 0:
+    binary = binary xor mask
+    mask   = mask shr 1
+  result = AIM_MIN + (float(binary) / 127.0) * (AIM_MAX - AIM_MIN)