diff --git a/BNNBot_garage/BNNBot b/BNNBot_garage/BNNBot
index 57ce404..30cb43d 100755
Binary files a/BNNBot_garage/BNNBot and b/BNNBot_garage/BNNBot differ
diff --git a/BNNBot_garage/src/binary_encoding.nim b/BNNBot_garage/src/binary_encoding.nim
index 7b689e0..7771f80 100644
--- a/BNNBot_garage/src/binary_encoding.nim
+++ b/BNNBot_garage/src/binary_encoding.nim
@@ -14,10 +14,14 @@ type
 
 const MAX_DISTANCE = 1414.0  # diagonal of 1000x1000 arena
 
+proc toGray(value: int): int =
+  value xor (value shr 1)
+
 proc toBits(value: int, bits: int): seq[uint8] =
   result = newSeq[uint8](bits)
+  let gray = toGray(value)
   for i in 0..<bits:
-    result[bits - 1 - i] = uint8((value shr i) and 1)
+    result[bits - 1 - i] = uint8((gray shr i) and 1)
 
 proc encode*(scan: ScanData): BinaryVector =
   var offset = 0