not working

src/main/deploy/pathplanner/paths/CPlayerStation-CShoot.path

@@ -58,7 +58,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubCenter-PlayerStation.path

@@ -104,7 +104,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path

@@ -88,7 +88,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path

@@ -88,7 +88,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path

@@ -64,7 +64,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path

@@ -58,7 +58,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/ReadyPush.path

@@ -48,7 +48,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
+    "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/java/frc4388/robot/RobotContainer.java

@@ -40,6 +40,7 @@ import frc4388.robot.subsystems.intake.Intake.IntakeMode;
 import frc4388.robot.subsystems.led.LED;
 import frc4388.robot.subsystems.shooter.Shooter;
 import frc4388.robot.subsystems.shooter.ShooterConstants;
+import frc4388.robot.subsystems.swerve.SimpleSwerveSim;
 import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Lidar;
 import frc4388.robot.subsystems.vision.Vision;
@@ -69,6 +70,7 @@ public class RobotContainer {
     /* Subsystems */
     // public final Lidar m_lidar = new Lidar();
     public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
+    public final SimpleSwerveSim m_robotSwerveSIM = new SimpleSwerveSim();
     //Testing of Colors
     public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
@@ -243,14 +245,19 @@ 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)
-            .whileTrue(new RunCommand(
+            .onTrue(new InstantCommand(
                 () -> {
-                m_robotSwerveDrive.driveFacingPosition(
+                m_robotSwerveSIM.driveFacingPosition(
-                    getDeadbandedDriverController().getLeft(),
+                    FieldPositions.HUB_POSITION
-                    FieldPositions.HUB_POSITION,
+               );
-                    ShooterConstants.AIM_LEAD_TIME.get()
+                })
-                    );
+                // () -> {
-                }, m_robotSwerveDrive)
+                // m_robotSwerveDrive.driveFacingPosition(
+                //     getDeadbandedDriverController().getLeft(),
+                //     FieldPositions.HUB_POSITION,
+                //     ShooterConstants.AIM_LEAD_TIME.get()
+                //     );
+                // }, m_robotSwerveDrive)
                 // () -> {
                 // m_robotSwerveDrive.driveFacingVelocity(
                 //     getDeadbandedDriverController().getLeft(),

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 = 152;
+  public static final int GIT_REVISION = 153;
-  public static final String GIT_SHA = "4f361a805deb8cb48e62bc0a6c3a7406d6aa5f72";
+  public static final String GIT_SHA = "c4b8e2972e7be654bd544019760a174afc4871ae";
-  public static final String GIT_DATE = "2026-03-11 22:49:27 MDT";
+  public static final String GIT_DATE = "2026-03-12 00:08:36 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-12 00:02:41 MDT";
+  public static final String BUILD_DATE = "2026-03-12 18:03:03 MDT";
-  public static final long BUILD_UNIX_TIME = 1773295361724L;
+  public static final long BUILD_UNIX_TIME = 1773360183045L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java

@@ -132,48 +132,7 @@ public class SimpleSwerveSim implements SwerveIO {
     }
 
     
-    public synchronized void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos, double aimLeadTime) {
+    
-        System.out.println("It has worked!");
-        System.out.println("It has worked!");
-        System.out.println("It has worked!");
-        System.out.println("It has worked!");
-        System.out.println("It has worked!");
-        System.out.println("It has worked!");
-        System.out.println("It has worked!");
-        if (leftStick == null || fieldPos == null) return;
-
-        // current robot speed (robot-relative)
-        Translation2d robotSpeed = new Translation2d(vx, vy);
-
-        // lead the target by robot motion over aimLeadTime
-        Translation2d fieldPosLead = fieldPos.plus(robotSpeed.times(aimLeadTime));
-
-        // compute angle from robot to lead point (field frame)
-        Rotation2d toLead = fieldPosLead.minus(pose.getTranslation()).getAngle();
-        // Rotation2d ang = fieldPosLead.minus(getPose2d().getTranslation()).getAngle();
-
-        // compute shortest angle error (ang_error = desired - current) normalized to [-pi,pi]
-        double currentYaw = pose.getRotation().getRadians();
-        double desiredYaw = toLead.getRadians();
-        double error = desiredYaw - currentYaw;
-        // normalize
-        while (error > Math.PI) error -= 2 * Math.PI;
-        while (error < -Math.PI) error += 2 * Math.PI;
-
-        // simple P controller for rotation
-        final double KP_ROT = 2.0;      // tune as needed
-        final double MAX_OMEGA = 6.0;   // rad/s cap
-        double commandedOmega = KP_ROT * error;
-        if (commandedOmega > MAX_OMEGA) commandedOmega = MAX_OMEGA;
-        if (commandedOmega < -MAX_OMEGA) commandedOmega = -MAX_OMEGA;
-        this.omega = commandedOmega;
-
-        // apply translational command from leftStick (assume stick in [-1,1])
-        final double STICK_SPEED_MPS = 3.0; // 3 m/s at full stick; tune as needed
-        this.vx = leftStick.getX() * STICK_SPEED_MPS;
-        this.vy = leftStick.getY() * STICK_SPEED_MPS;
-    }
-
     @Override
     public synchronized void resetPose(Pose2d p) {
         if (p == null) return;

src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java

@@ -362,7 +362,6 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
 
     // Drive with the robot facing towards a specific position
     public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos, double aimLeadTime) {
-
         // Get the current speed of the robot
         Translation2d robotSpeed = new Translation2d(
             chassisSpeeds.vxMetersPerSecond,