experiment(reservoir): reduce warm-start weight to 0.1 for faster learning adaptation

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

SNNBot_garage/src/reservoir.nim

@@ -11,7 +11,7 @@ type
   GridCell = object
     sumSin: float
     sumCos: float
-    count:  int
+    count:  float
 
   LeadGrid* = object
     cells: array[VPERP_BINS * DIST_BINS, GridCell]  # 17 × 8 = 136 cells
@@ -25,9 +25,9 @@ proc initLeadGrid*(): LeadGrid =
       let sinVal = clamp(vPerp / BULLET_SPEED, -1.0, 1.0)
       let offsetRad = arcsin(sinVal)
       let idx = vBin * DIST_BINS + dBin
-      result.cells[idx].sumSin = sin(offsetRad)
-      result.cells[idx].sumCos = cos(offsetRad)
-      result.cells[idx].count = 1
+      result.cells[idx].sumSin = 0.1 * sin(offsetRad)
+      result.cells[idx].sumCos = 0.1 * cos(offsetRad)
+      result.cells[idx].count = 0.1
 
 proc cellIndex(vPerp: float, distance: float): int {.inline.} =
   let vBin = clamp(int(vPerp + 8.5), 0, VPERP_BINS - 1)
@@ -50,12 +50,12 @@ proc forward*(grid: var LeadGrid, vPerp, distance: float): float =
       let db = dBin + dd
       if vb < 0 or vb >= VPERP_BINS or db < 0 or db >= DIST_BINS: continue
       let c = grid.cells[vb * DIST_BINS + db]
-      if c.count == 0: continue
+      if c.count < 0.001: continue
       let w = if dv == 0 and dd == 0: 1.0
               elif dv == 0 or dd == 0: 0.5
               else: 0.25
-      sinSum += w * c.sumSin / float(c.count)
-      cosSum += w * c.sumCos / float(c.count)
+      sinSum += w * c.sumSin / c.count
+      cosSum += w * c.sumCos / c.count
       totalW += w
   if totalW == 0.0:
     return -999.0
@@ -65,8 +65,8 @@ proc learn*(grid: var LeadGrid, vPerp, distance, correctOffset: float) =
   let idx = cellIndex(vPerp, distance)
   grid.cells[idx].sumSin += sin(degToRad(correctOffset))
   grid.cells[idx].sumCos += cos(degToRad(correctOffset))
-  inc grid.cells[idx].count
+  grid.cells[idx].count += 1.0
 
-proc totalCount*(grid: LeadGrid): int =
+proc totalCount*(grid: LeadGrid): float =
   for c in grid.cells:
     result += c.count