fix(SNNBot): skip learning when aim error < 1.5° (dead zone)

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
2026-09-15 08:10:31 +02:00
parent 844abe0bb7
commit 8685f0e794
1 changed files with 8 additions and 1 deletions
@@ -399,7 +399,14 @@ method run*(bot: SNNBot) =
          # correctAngle must be [0,360): targetRel is -180..180, shift it
          var correctAngle = targetRel + 180.0
          let aimRaw = bot.res.forward(bot.lastBinInput)
-          bot.res.learn(bot.lastBinInput, correctAngle)
+          # Dead zone: only learn if aim error > 1.5° (prevents ring buffer churn)
+          if aimRaw >= 0.0:
+            let aimErr = abs(normalizeRelativeAngle(aimRaw - correctAngle))
+            if aimErr > 1.5:
+              bot.res.learn(bot.lastBinInput, correctAngle)
+          else:
+            # Cold start: always learn
+            bot.res.learn(bot.lastBinInput, correctAngle)
          let aimErr = if aimRaw >= 0.0: abs(normalizeRelativeAngle(aimRaw - correctAngle)) else: -1.0
          echo "RES tick=" & $bot.tick &
               " aim=" & (if aimRaw >= 0.0: formatFloat(aimRaw, ffDecimal, 1) else: "cold") &