diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 582c218..c4eca1b 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -245,13 +245,11 @@ public class RobotContainer {
 
         // IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
         new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
-            .onTrue(new InstantCommand(
-                    () -> m_robotSwerveDrive.driveFacingPosition(
+            .whileTrue(new RunCommand(() -> m_robotSwerveDrive.driveFacingPosition(
                         getDeadbandedDriverController().getLeft(),
-                        FieldPositions.HUB_POSITION,
-                        ShooterConstants.AIM_LEAD_TIME.get()
-                        ), m_robotSwerveDrive)
-                // }, m_robotSwerveDrive)
+                    FieldPositions.HUB_POSITION,
+                    ShooterConstants.AIM_LEAD_TIME.get()
+                    ), m_robotSwerveDrive)
                 // () -> {
                 // m_robotSwerveDrive.driveFacingVelocity(
                 //     getDeadbandedDriverController().getLeft(),
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index fc42833..e426645 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 155;
-  public static final String GIT_SHA = "af3646ff4378382f3bfcce6ab7828823bb76be21";
-  public static final String GIT_DATE = "2026-03-12 18:06:12 MDT";
+  public static final int GIT_REVISION = 156;
+  public static final String GIT_SHA = "0d98232f30a0663939bef0d21533e1603090c7cd";
+  public static final String GIT_DATE = "2026-03-12 18:13:33 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-12 18:11:48 MDT";
-  public static final long BUILD_UNIX_TIME = 1773360708923L;
+  public static final String BUILD_DATE = "2026-03-12 18:30:13 MDT";
+  public static final long BUILD_UNIX_TIME = 1773361813662L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java b/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
index 825569e..75542fd 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
@@ -78,6 +78,19 @@ public class SimpleSwerveSim implements SwerveIO {
         return 0.0;
     }
 
+    
+    public synchronized void pointAtXY(double x, double y) {
+        Translation2d target = new Translation2d(x, y);
+        Translation2d toTarget = target.minus(pose.getTranslation());
+        if (toTarget.getNorm() < 1e-9) return;
+        Rotation2d desired = toTarget.getAngle();
+        pose = new Pose2d(pose.getTranslation(), desired);
+        lastPose = pose;
+        vx = 0.0;
+        vy = 0.0;
+        omega = 0.0;
+    }
+
     @Override
     public synchronized void updateInputs(SwerveState state) {
         if (state == null) return;