diff --git a/SNNBot_garage/src/SNNBot.nim b/SNNBot_garage/src/SNNBot.nim
index 24c004d..94f19f1 100644
--- a/SNNBot_garage/src/SNNBot.nim
+++ b/SNNBot_garage/src/SNNBot.nim
@@ -247,6 +247,11 @@ type
     lastDecideGunDir: float             # gun heading captured at DECIDE time for EVALUATE
     lastVPerp:       float              # DECIDE-time vPerp, reused in EVALUATE
     lastAbsBearing:  float             # absolute bearing to enemy captured at DECIDE time
+    decideEnemyX:    float             # enemy X frozen at DECIDE time
+    decideEnemyY:    float             # enemy Y frozen at DECIDE time
+    decideVelDirDeg: float             # enemy vel direction frozen at DECIDE time
+    decideVelSpeed:  float             # enemy speed frozen at DECIDE time
+    decideDist:      float             # distance to enemy frozen at DECIDE time
     roundTick:        int                # ticks elapsed in current round (reset each round)
     bulletsFired:     int                # count of bullets fired this round
     bulletsHit:       int                # count of bullets that hit this round
@@ -379,6 +384,11 @@ method run*(bot: SNNBot) =
         bot.lastVPerp        = vPerp
         bot.lastDecideGunDir = gunDir
         bot.lastAbsBearing   = absBearing
+        bot.decideEnemyX     = bot.lastEnemyX
+        bot.decideEnemyY     = bot.lastEnemyY
+        bot.decideVelDirDeg  = bot.velDirDeg
+        bot.decideVelSpeed   = bot.velSpeed
+        bot.decideDist       = bot.enemyDist
         let rate = if bot.bulletsFired > 0: float(bot.bulletsHit) / float(bot.bulletsFired) * 100.0 else: 0.0
         bot.gridHasData = gridOffset > -999.0
         if gridOffset <= -999.0:
@@ -437,33 +447,33 @@ method run*(bot: SNNBot) =
     of EVALUATE:
       # Predictive error signal: extrapolate enemy position at bullet impact time.
       if bot.hasLastPos:
-        # correctOffset: correct lead angle at BULLET_SPEED
-        let travelTime = bot.enemyDist / BULLET_SPEED
-        let velRad  = degToRad(bot.velDirDeg)
-        let futureX = bot.lastEnemyX + cos(velRad) * bot.velSpeed * travelTime
-        let futureY = bot.lastEnemyY + sin(velRad) * bot.velSpeed * travelTime
+        # correctOffset: correct lead angle at BULLET_SPEED, using DECIDE-time snapshot
+        let travelTime = bot.decideDist / BULLET_SPEED
+        let velRad  = degToRad(bot.decideVelDirDeg)
+        let futureX = bot.decideEnemyX + cos(velRad) * bot.decideVelSpeed * travelTime
+        let futureY = bot.decideEnemyY + sin(velRad) * bot.decideVelSpeed * travelTime
         # correctAngle: absolute world-frame bearing [0,360) to predicted enemy position
         let correctAngle = directionTo(myX, myY, futureX, futureY)
 
-        # Adaptive learning dead zone: scale by enemy velocity
-        let t = (bot.velSpeed / 8.0).clamp(0.0, 1.0)
+        # Adaptive learning dead zone: scale by DECIDE-time enemy velocity
+        let t = (bot.decideVelSpeed / 8.0).clamp(0.0, 1.0)
         let adaptiveDeadZone = 0.5 + (0.3 - 0.5) * t  # lerp(0.5, 0.3, t)
 
         when USE_RESERVOIR:
           # correctOffset: angle offset from bare bearing that a bullet at BULLET_SPEED needs
           let correctOffset = normalizeRelativeAngle(correctAngle - bot.lastAbsBearing)
-          let producedOffset = bot.res.forward(bot.lastVPerp, bot.enemyDist)
+          let producedOffset = bot.res.forward(bot.lastVPerp, bot.decideDist)
           # Bias diagnostics: log grid offset vs correct offset to detect systematic error
           let biasVal = producedOffset - correctOffset
-          appendLog(biasDebugLog, fmt"BIAS tick={bot.roundTick} gridOffset={producedOffset:.3f} correctOffset={correctOffset:.3f} bias={biasVal:.3f} vPerp={bot.lastVPerp:.3f} dist={bot.enemyDist:.1f}")
+          appendLog(biasDebugLog, fmt"BIAS tick={bot.roundTick} gridOffset={producedOffset:.3f} correctOffset={correctOffset:.3f} bias={biasVal:.3f} vPerp={bot.lastVPerp:.3f} dist={bot.decideDist:.1f}")
 
           # Learn if: cold start OR error > dead zone
           if producedOffset > -999.0:
             let aimErr = abs(normalizeRelativeAngle(producedOffset - correctOffset))
             if aimErr > adaptiveDeadZone:
-              bot.res.learn(bot.lastVPerp, bot.enemyDist, correctOffset)
+              bot.res.learn(bot.lastVPerp, bot.decideDist, correctOffset)
           else:
-            bot.res.learn(bot.lastVPerp, bot.enemyDist, correctOffset)
+            bot.res.learn(bot.lastVPerp, bot.decideDist, correctOffset)
           let aimErr = if producedOffset > -999.0: abs(normalizeRelativeAngle(producedOffset - correctOffset)) else: -1.0
           let rate = if bot.bulletsFired > 0: (float(bot.bulletsHit) / float(bot.bulletsFired) * 100.0) else: 0.0
           echo "RES tick=" & $bot.tick &