feat(SNNBot): adaptive fire power with lead scaling and velocity transition suppression
- P3 at err<0.5°, P1 at err<2.0° (was fixed P2); no fire at err>=2.0° - Scale grid lead offset by bullet speed ratio (sin(θ) ∝ 1/v_bullet) - ENERGY_GUARD 5→15 to survive Walls' sustained fire - Suppress fire when |vPerp delta| > 2.0 (enemy changing direction) - Store lastBulletSpeed = 20-3*chosenPower for correct EVALUATE travel time Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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@@ -71,12 +71,14 @@ const
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BETA = 1.0 # surrogate steepness (unitless; potentials are unitless)
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NOISE_AMP = 0.3 # exploration noise amplitude
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# ponytail: uniform exploration noise; upgrade to annealed Gaussian if convergence needs tuning
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ENERGY_GUARD = 5.0 # P1 costs 1/shot, be aggressive
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ENERGY_GUARD = 15.0 # keep buffer; Walls hits us while we shoot
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P3_SPEED = 11.0 # bullet speed for P3 (20 - 3*3); used for exemplar learning
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P1_SPEED = 17.0 # bullet speed for P1 (20 - 3*1)
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P2_SPEED = 14.0 # bullet speed for P2 (20 - 3*2)
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GRID_BULLET_SPEED = 14.0 # reference speed the grid learns at (power 2)
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COLD_K = 3 # exemplars needed before leaving cold start
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PATIENCE_TICKS = 5 # P1 is forgiving, less patience needed
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VPERP_TRANSITION = 2.0 # suppress fire when |vPerp change| > this (enemy changing direction)
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# ── SNN types ─────────────────────────────────────────────────────────────────
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@@ -246,6 +248,7 @@ type
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velSpeed: float64 # speed (units/tick) from last scan delta
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lastDecideGunDir: float # gun heading captured at DECIDE time for EVALUATE
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lastVPerp: float # DECIDE-time vPerp, reused in EVALUATE
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prevTickVPerp: float # vPerp from previous tick (transition detection)
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lastAbsBearing: float # absolute bearing to enemy captured at DECIDE time
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roundTick: int # ticks elapsed in current round (reset each round)
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bulletsFired: int # count of bullets fired this round
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@@ -326,6 +329,7 @@ method onRoundStarted*(bot: SNNBot, e: RoundStartedEvent) =
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bot.lastEnemyX = 0.0
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bot.lastEnemyY = 0.0
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bot.lastAbsBearing = 0.0
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bot.prevTickVPerp = 0.0
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bot.lastDecideGunDir = 0.0
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bot.targetAngle = 0.0
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setTargetSpeed(0.0)
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@@ -381,19 +385,25 @@ method run*(bot: SNNBot) =
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while relVelDir >= 180.0: relVelDir -= 360.0
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while relVelDir < -180.0: relVelDir += 360.0
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let vPerp = bot.velSpeed * sin(degToRad(relVelDir))
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let aimOffset = bot.res.forward(vPerp, bot.enemyDist)
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let gridOffset = bot.res.forward(vPerp, bot.enemyDist)
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bot.lastVPerp = vPerp
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bot.lastDecideGunDir = gunDir
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bot.lastAbsBearing = absBearing
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let rate = if bot.bulletsFired > 0: float(bot.bulletsHit) / float(bot.bulletsFired) * 100.0 else: 0.0
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if aimOffset <= -999.0:
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if gridOffset <= -999.0:
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bot.targetAngle = absBearing
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echo "RES tick=" & $bot.tick & " pwr=" & formatFloat(bot.currentFirePower, ffDecimal, 1) & " hitEMA=" & formatFloat(bot.hitRateEMA * 100.0, ffDecimal, 0) & "% cold-start aim=" & formatFloat(absBearing, ffDecimal, 1) & " fired=" & $bot.bulletsFired & " hit=" & $bot.bulletsHit & " rate=" & formatFloat(rate, ffDecimal, 1) & "% energy=" & formatFloat(getEnergy(), ffDecimal, 0) & " cells=" & $bot.res.totalCount
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diagLog("DECIDE tick=" & $bot.tick & " offset=cold-start cells=" & $bot.res.totalCount)
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else:
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# Scale grid offset (learned at GRID_BULLET_SPEED) to chosen fire power speed.
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# sin(leadAngle) ∝ 1/bulletSpeed, so scale sin of the offset.
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let chosenSpeed = 20.0 - 3.0 * bot.currentFirePower
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let sinGrid = sin(degToRad(gridOffset))
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let sinScaled = clamp(sinGrid * GRID_BULLET_SPEED / chosenSpeed, -1.0, 1.0)
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let aimOffset = radToDeg(arcsin(sinScaled))
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bot.targetAngle = (absBearing + aimOffset + 360.0) mod 360.0
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echo "RES tick=" & $bot.tick & " pwr=" & formatFloat(bot.currentFirePower, ffDecimal, 1) & " hitEMA=" & formatFloat(bot.hitRateEMA * 100.0, ffDecimal, 0) & "% offset=" & formatFloat(aimOffset, ffDecimal, 1) & " aim=" & formatFloat(bot.targetAngle, ffDecimal, 1) & " fired=" & $bot.bulletsFired & " hit=" & $bot.bulletsHit & " rate=" & formatFloat(rate, ffDecimal, 1) & "% energy=" & formatFloat(getEnergy(), ffDecimal, 0) & " cells=" & $bot.res.totalCount
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diagLog("DECIDE tick=" & $bot.tick & " offset=" & formatFloat(aimOffset, ffDecimal, 2) & "° cells=" & $bot.res.totalCount)
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diagLog("DECIDE tick=" & $bot.tick & " offset=" & formatFloat(aimOffset, ffDecimal, 2) & "° gridOffset=" & formatFloat(gridOffset, ffDecimal, 2) & "° cells=" & $bot.res.totalCount)
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else:
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let inputs = encodeInputFull(absBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
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# Multi-tick inference: accumulate sin/cos and spike counts over N_INFER ticks
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@@ -426,14 +436,33 @@ method run*(bot: SNNBot) =
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aimTo(bot.targetAngle, gunDir)
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let err = abs(normalizeRelativeAngle(bot.targetAngle - gunDir))
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# Fire gate: gun must be aimed and settled before firing
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# Velocity transition detection: recompute current vPerp
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var curVPerp = bot.lastVPerp
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if bot.hasLastPos:
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var relVelDir2 = bot.velDirDeg - bot.enemyBearing
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while relVelDir2 >= 180.0: relVelDir2 -= 360.0
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while relVelDir2 < -180.0: relVelDir2 += 360.0
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curVPerp = bot.velSpeed * sin(degToRad(relVelDir2))
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let vPerpTransition = abs(curVPerp - bot.prevTickVPerp) > VPERP_TRANSITION
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bot.prevTickVPerp = curVPerp
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# Fire gate: gun aimed, enough energy, not in cold-start, enemy not changing direction
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let energy = getEnergy()
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let readyToFire = err < 2.0 and energy >= ENERGY_GUARD and bot.roundTick >= PATIENCE_TICKS
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let leadOffset = normalizeRelativeAngle(bot.targetAngle - bot.lastAbsBearing)
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appendLog(aimDebugLog, fmt"TICK t={bot.roundTick} err={err:.2f} offset={leadOffset:.2f} vPerp={bot.lastVPerp:.2f} dist={bot.enemyDist:.1f} fired={readyToFire}")
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appendLog(aimDebugLog, fmt"TICK t={bot.roundTick} err={err:.2f} offset={leadOffset:.2f} vPerp={bot.lastVPerp:.2f} dist={bot.enemyDist:.1f} transition={vPerpTransition}")
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# Adaptive fire power: high confidence = P3 (damage), low = P1 (cheap miss)
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let chosenPower =
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if err < 0.5: 3.0
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elif err < 2.0: 1.0
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else: 0.0
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bot.currentFirePower = if chosenPower > 0.0: chosenPower else: bot.currentFirePower
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let readyToFire = chosenPower > 0.0 and energy >= ENERGY_GUARD and
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bot.roundTick >= PATIENCE_TICKS and not vPerpTransition
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if readyToFire:
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bot.lastBulletSpeed = P2_SPEED
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discard setFire(2.0)
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bot.lastBulletSpeed = 20.0 - 3.0 * chosenPower
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discard setFire(chosenPower)
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bot.phase = EVALUATE
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else:
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discard setFire(0.0)
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