diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 7f73bd5..bc6ded9 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -137,10 +137,9 @@ public class RobotContainer {
         );
 
         private Command RobotShootDriving = new SequentialCommandGroup(
-            new InstantCommand(() -> 
-                m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION)
-            ),
-            new WaitCommand(99) // stays on for the duration of the auto segment
+            new RunCommand(() -> 
+                m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION, ShooterConstants.AIM_LEAD_TIME.get(), FieldPositions.HUB_POSITION)
+            ).withTimeout(20)
             ).finallyDo((interrupted) -> 
              m_robotSwerveDrive.disableRotationOverride()
         );
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index b220d26..77790bb 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 = 172;
-  public static final String GIT_SHA = "69677d5ae9e63125a30857f5f7afa0756dfa9416";
-  public static final String GIT_DATE = "2026-03-20 15:40:07 MDT";
+  public static final int GIT_REVISION = 173;
+  public static final String GIT_SHA = "95c8a167a56fa0c68e486c7a097dc4d31a3e290b";
+  public static final String GIT_DATE = "2026-03-20 20:01:06 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-20 19:59:37 MDT";
-  public static final long BUILD_UNIX_TIME = 1774058377112L;
+  public static final String BUILD_DATE = "2026-03-20 20:29:10 MDT";
+  public static final long BUILD_UNIX_TIME = 1774060150289L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
index fbea572..b771081 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -540,8 +540,15 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         softStop();
     }
 
-    public void enableRotationOverride(Translation2d fieldTarget) {
-        m_rotationOverrideTarget = fieldTarget;
+    public void enableRotationOverride(Translation2d fieldTarget, double aimLeadTime, Translation2d fieldPos) {
+        Translation2d robotSpeed = new Translation2d(
+            chassisSpeeds.vxMetersPerSecond, 
+            chassisSpeeds.vyMetersPerSecond
+        );
+        Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
+        System.out.println("field pos lead: " + fieldPosLead);
+        Logger.recordOutput("Auto Aim", fieldPosLead);
+        m_rotationOverrideTarget = fieldPosLead;
         m_useRotationOverride = true;
     }