diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e33d8bb..9136311 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -254,20 +254,21 @@ 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(() -> m_robotSwerveDrive.driveFacingPosition(
-                        getDeadbandedDriverController().getLeft(),
-                    FieldPositions.HUB_POSITION,
-                    ShooterConstants.AIM_LEAD_TIME.get()
-                    ), m_robotSwerveDrive)
-                // () -> {
-                // m_robotSwerveDrive.driveFacingVelocity(
-                //     getDeadbandedDriverController().getLeft(),
+            .whileTrue(new RunCommand(
+                // () -> m_robotSwerveDrive.driveFacingPosition(
+                //         getDeadbandedDriverController().getLeft(),
                 //     FieldPositions.HUB_POSITION,
-                //     ShooterConstants.AIM_LEAD_TIME.get(),
-                //     m_robotShooter.getBallVelocity(),
-                //     m_robotShooter.getDistanceToHub()
-                //     );
-                // }, m_robotSwerveDrive)
+                //     ShooterConstants.AIM_LEAD_TIME.get()
+                //     ), m_robotSwerveDrive)
+                () -> {
+                m_robotSwerveDrive.driveFacingVelocity(
+                    getDeadbandedDriverController().getLeft(),
+                    FieldPositions.HUB_POSITION,
+                    ShooterConstants.AIM_LEAD_TIME.get(),
+                    m_robotShooter.getBallVelocity(),
+                    m_robotShooter.getDistanceToHub()
+                    );
+                }, m_robotSwerveDrive)
             );
 
         // D-PAD fine alignment
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 53210d2..ff87427 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 = 162;
-  public static final String GIT_SHA = "aac68dad5eabfaa1e098ad8cf6e42cd3bddd1ef3";
-  public static final String GIT_DATE = "2026-03-14 20:20:55 MDT";
+  public static final int GIT_REVISION = 164;
+  public static final String GIT_SHA = "f4a42f02eed0fa3b0950a05da55174b9f4b89ce7";
+  public static final String GIT_DATE = "2026-03-14 20:39:45 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-14 20:33:21 MDT";
-  public static final long BUILD_UNIX_TIME = 1773542001176L;
+  public static final String BUILD_DATE = "2026-03-15 11:14:11 MDT";
+  public static final long BUILD_UNIX_TIME = 1773594851399L;
   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 d3664f3..9d99131 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
@@ -409,13 +409,13 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
             chassisSpeeds.vyMetersPerSecond
         );
 
-        if (ballVelocity > 1E-3 && chassisSpeeds.vyMetersPerSecond > 1E-3){
+        if (ballVelocity > 1E-3 && Math.abs(chassisSpeeds.vyMetersPerSecond) > 1E-3){
             double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(Math.abs(ballVelocity));
-            fieldPos =  new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
-            Logger.recordOutput("Aim Offset", aimOffset);
-
             // double aimOffset = (chassisSpeeds.vyMetersPerSecond * distanceToHub) / (Math.abs(ballVelocity) * Math.cos(Math.atan((-1.4478 - (2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583) - Math.sqrt(Math.pow(2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583), 2) - 8.3863)) / 2) / distanceToHub)));
-            // Logger.recordOutput("Aim Offset", aimOffset);
+
+            fieldPos =  new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
+            Logger.recordOutput("Offset", aimOffset);
+
         }
 
     
@@ -424,6 +424,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
 
         Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle();
 
+        Logger.recordOutput("Aim at Offset", fieldPos);
 
         driveFieldAngle(leftStick, ang);
     }
@@ -531,6 +532,12 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
         vision.setLastOdomPose(state.currentPose);
         setLastOdomSpeed(state.currentPose, state.lastPose, state.odometryRate);
 
+        // if (state.speeds != null) {
+        //     this.chassisSpeeds = state.speeds;
+        // } else {
+        //     this.chassisSpeeds = new ChassisSpeeds();
+        // }
+        
         if (vision.isTag()) {
             Pose2d pose = vision.getPose2d();
             if (!robotKnowsWhereItIs) {
@@ -545,11 +552,6 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
 
             vision.setLastOdomPose(state.currentPose);
             setLastOdomSpeed(state.currentPose, state.lastPose, state.odometryRate);
-            if (state.speeds != null) {
-                this.chassisSpeeds = state.speeds;
-            } else {
-                this.chassisSpeeds = new ChassisSpeeds();
-            }
         }
 
         // if(e.isPresent())