diff --git a/.idea/compiler.xml b/.idea/compiler.xml
index 3b8c5d3b..7e4c0622 100644
--- a/.idea/compiler.xml
+++ b/.idea/compiler.xml
@@ -5,12 +5,15 @@
       <profile name="Gradle Imported" enabled="true">
         <outputRelativeToContentRoot value="true" />
         <processorPath useClasspath="false">
-          <entry name="$USER_HOME$/wpilib/2026/maven/edu/wpi/first/epilogue/epilogue-processor-java/2026.1.1/epilogue-processor-java-2026.1.1.jar" />
-          <entry name="$USER_HOME$/wpilib/2026/maven/edu/wpi/first/epilogue/epilogue-runtime-java/2026.1.1/epilogue-runtime-java-2026.1.1.jar" />
+          <entry name="$PROJECT_DIR$/../../../../Public/wpilib/2026/maven/edu/wpi/first/epilogue/epilogue-processor-java/2026.2.1/epilogue-processor-java-2026.2.1.jar" />
+          <entry name="$PROJECT_DIR$/../../../../Public/wpilib/2026/maven/edu/wpi/first/epilogue/epilogue-runtime-java/2026.2.1/epilogue-runtime-java-2026.2.1.jar" />
         </processorPath>
         <module name="Java_2026.main" />
       </profile>
     </annotationProcessing>
     <bytecodeTargetLevel target="17" />
   </component>
+  <component name="JavacSettings">
+    <option name="ADDITIONAL_OPTIONS_STRING" value="-XDstringConcat=inline" />
+  </component>
 </project>
\ No newline at end of file
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index ce1c62c7..c1b38748 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -5,6 +5,7 @@
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="gradleJvm" value="temurin-25" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />
diff --git a/.idea/misc.xml b/.idea/misc.xml
index c13008c4..2a290158 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ExternalStorageConfigurationManager" enabled="true" />
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="azul-17" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_25" default="true" project-jdk-name="temurin-25" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/out" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
deleted file mode 100644
index 1a56902e..00000000
--- a/.idea/modules.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/Java_2026.iml" filepath="$PROJECT_DIR$/.idea/Java_2026.iml" />
-    </modules>
-  </component>
-</project>
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index e9b0020a..322a386e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
 }
 
 java {
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 34bd9ce9..246322d2 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,7 +1,6 @@
+#Mon Mar 30 17:42:42 EDT 2026
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
-networkTimeout=10000
-validateDistributionUrl=true
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.4-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/src/main/deploy/choreo/Depot_Fast.traj b/src/main/deploy/choreo/Depot_Fast.traj
new file mode 100644
index 00000000..9ef8528d
--- /dev/null
+++ b/src/main/deploy/choreo/Depot_Fast.traj
@@ -0,0 +1,79 @@
+{
+ "name":"Depot_Fast",
+ "version":3,
+ "snapshot":{
+  "waypoints":[
+    {"x":3.596, "y":5.06, "heading":3.141592653589793, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":0.3662222921848297, "y":5.994427680969238, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"3.596 m", "val":3.596}, "y":{"exp":"5.06 m", "val":5.06}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"0.3662222921848297 m", "val":0.3662222921848297}, "y":{"exp":"5.994427680969238 m", "val":5.994427680969238}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "config":{
+   "frontLeft":{
+    "x":0.2794,
+    "y":0.2794
+   },
+   "backLeft":{
+    "x":-0.2794,
+    "y":0.2794
+   },
+   "mass":45.359237,
+   "inertia":6.0,
+   "gearing":6.5,
+   "radius":0.0508,
+   "vmax":628.3185307179587,
+   "tmax":1.2,
+   "cof":1.5,
+   "bumper":{
+    "front":0.43,
+    "side":0.43,
+    "back":0.43
+   },
+   "differentialTrackWidth":0.5588
+  },
+  "sampleType":"Swerve",
+  "waypoints":[0.0,1.04949],
+  "samples":[
+    {"t":0.0, "x":3.596, "y":5.06, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-12.99576, "ay":3.75989, "alpha":0.0, "fx":[-147.36948,-147.36948,-147.36948,-147.36948], "fy":[42.63641,42.63641,42.63641,42.63641]},
+    {"t":0.04998, "x":3.57977, "y":5.0647, "heading":3.14159, "vx":-0.64947, "vy":0.1879, "omega":0.0, "ax":-12.99392, "ay":3.75935, "alpha":0.0, "fx":[-147.34857,-147.34857,-147.34857,-147.34857], "fy":[42.63036,42.63036,42.63036,42.63036]},
+    {"t":0.09995, "x":3.53109, "y":5.07878, "heading":3.14159, "vx":-1.29886, "vy":0.37578, "omega":0.0, "ax":-12.99134, "ay":3.75861, "alpha":0.0, "fx":[-147.31929,-147.31929,-147.31929,-147.31929], "fy":[42.62189,42.62189,42.62189,42.62189]},
+    {"t":0.14993, "x":3.44995, "y":5.10225, "heading":3.14159, "vx":-1.94811, "vy":0.56362, "omega":0.0, "ax":-12.98746, "ay":3.75748, "alpha":0.0, "fx":[-147.27529,-147.27529,-147.27529,-147.27529], "fy":[42.60916,42.60916,42.60916,42.60916]},
+    {"t":0.1999, "x":3.33637, "y":5.13511, "heading":3.14159, "vx":-2.59717, "vy":0.7514, "omega":0.0, "ax":-12.98098, "ay":3.75561, "alpha":0.0, "fx":[-147.20183,-147.20183,-147.20183,-147.20183], "fy":[42.5879,42.5879,42.5879,42.5879]},
+    {"t":0.24988, "x":3.19037, "y":5.17736, "heading":3.14159, "vx":-3.2459, "vy":0.93909, "omega":0.0, "ax":-12.96798, "ay":3.75185, "alpha":0.0, "fx":[-147.05443,-147.05443,-147.05443,-147.05443], "fy":[42.54526,42.54526,42.54526,42.54526]},
+    {"t":0.29986, "x":3.01196, "y":5.22897, "heading":3.14159, "vx":-3.89399, "vy":1.1266, "omega":0.0, "ax":-12.92876, "ay":3.7405, "alpha":0.0, "fx":[-146.60968,-146.60968,-146.60968,-146.60968], "fy":[42.41658,42.41658,42.41658,42.41658]},
+    {"t":0.34983, "x":2.80121, "y":5.28995, "heading":3.14159, "vx":-4.54012, "vy":1.31353, "omega":0.0, "ax":-3.46426, "ay":1.00227, "alpha":0.0, "fx":[-39.28405,-39.28405,-39.28405,-39.28405], "fy":[11.36552,11.36552,11.36552,11.36552]},
+    {"t":0.39981, "x":2.56998, "y":5.35684, "heading":3.14159, "vx":-4.71325, "vy":1.36362, "omega":0.0, "ax":-0.00026, "ay":0.00008, "alpha":0.0, "fx":[-0.00296,-0.00296,-0.00296,-0.00296], "fy":[0.00086,0.00086,0.00086,0.00086]},
+    {"t":0.44978, "x":2.33443, "y":5.42499, "heading":3.14159, "vx":-4.71326, "vy":1.36362, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.49976, "x":2.09889, "y":5.49314, "heading":3.14159, "vx":-4.71326, "vy":1.36362, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.54973, "x":1.86334, "y":5.56129, "heading":3.14159, "vx":-4.71326, "vy":1.36362, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
+    {"t":0.59971, "x":1.62779, "y":5.62944, "heading":3.14159, "vx":-4.71326, "vy":1.36362, "omega":0.0, "ax":0.00026, "ay":-0.00008, "alpha":0.0, "fx":[0.00296,0.00296,0.00296,0.00296], "fy":[-0.00086,-0.00086,-0.00086,-0.00086]},
+    {"t":0.64969, "x":1.39224, "y":5.69758, "heading":3.14159, "vx":-4.71325, "vy":1.36362, "omega":0.0, "ax":3.46426, "ay":-1.00227, "alpha":0.0, "fx":[39.28405,39.28405,39.28405,39.28405], "fy":[-11.36552,-11.36552,-11.36552,-11.36552]},
+    {"t":0.69966, "x":1.16102, "y":5.76448, "heading":3.14159, "vx":-4.54012, "vy":1.31353, "omega":0.0, "ax":12.92876, "ay":-3.7405, "alpha":0.0, "fx":[146.60968,146.60968,146.60968,146.60968], "fy":[-42.41658,-42.41658,-42.41658,-42.41658]},
+    {"t":0.74964, "x":0.95027, "y":5.82545, "heading":3.14159, "vx":-3.89399, "vy":1.1266, "omega":0.0, "ax":12.96798, "ay":-3.75185, "alpha":0.0, "fx":[147.05443,147.05443,147.05443,147.05443], "fy":[-42.54526,-42.54526,-42.54526,-42.54526]},
+    {"t":0.79961, "x":0.77185, "y":5.87707, "heading":3.14159, "vx":-3.2459, "vy":0.93909, "omega":0.0, "ax":12.98098, "ay":-3.75561, "alpha":0.0, "fx":[147.20183,147.20183,147.20183,147.20183], "fy":[-42.5879,-42.5879,-42.5879,-42.5879]},
+    {"t":0.84959, "x":0.62585, "y":5.91931, "heading":3.14159, "vx":-2.59717, "vy":0.7514, "omega":0.0, "ax":12.98746, "ay":-3.75748, "alpha":0.0, "fx":[147.27529,147.27529,147.27529,147.27529], "fy":[-42.60916,-42.60916,-42.60916,-42.60916]},
+    {"t":0.89957, "x":0.51227, "y":5.95217, "heading":3.14159, "vx":-1.94811, "vy":0.56362, "omega":0.0, "ax":12.99134, "ay":-3.75861, "alpha":0.0, "fx":[147.31929,147.31929,147.31929,147.31929], "fy":[-42.62189,-42.62189,-42.62189,-42.62189]},
+    {"t":0.94954, "x":0.43114, "y":5.97565, "heading":3.14159, "vx":-1.29886, "vy":0.37578, "omega":0.0, "ax":12.99392, "ay":-3.75935, "alpha":0.0, "fx":[147.34857,147.34857,147.34857,147.34857], "fy":[-42.63036,-42.63036,-42.63036,-42.63036]},
+    {"t":0.99952, "x":0.38245, "y":5.98973, "heading":3.14159, "vx":-0.64947, "vy":0.1879, "omega":0.0, "ax":12.99576, "ay":-3.75989, "alpha":0.0, "fx":[147.36948,147.36948,147.36948,147.36948], "fy":[-42.63641,-42.63641,-42.63641,-42.63641]},
+    {"t":1.04949, "x":0.36622, "y":5.99443, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[]
+}
diff --git a/src/main/java/frc/robot/Drive.java b/src/main/java/frc/robot/Drive.java
index e75b9fee..c3b31b0a 100644
--- a/src/main/java/frc/robot/Drive.java
+++ b/src/main/java/frc/robot/Drive.java
@@ -9,8 +9,8 @@
 
 
 public class Drive extends SubsystemBase{
-    private final PIDController xController = new PIDController(.01, 0.0, 0.0);
-    private final PIDController yController = new PIDController(.01, 0.0, 0.0);
+    private final PIDController xController = new PIDController(10, 0.0, 0.0);
+    private final PIDController yController = new PIDController(10, 0.0, 0.0);
     private final PIDController headingController = new PIDController(.01, 0.0, 0.0);
     private SwerveSubsystem subsystem;
 
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 041fa85b..98464463 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -144,7 +144,7 @@ public void robotPeriodic() {
                 SmartDashboard.putString("Alliance Color", Robot.allianceColorString());
                 if (Constants.currentMode == Constants.Mode.SIM) {
                     Logger.recordOutput("SimPose", robotContainer.getDriveBase().getSimulationPose().get());
-                    Logger.recordOutput("OdomPose", robotContainer.getDriveBase().getSimulationPose().get());
+                    Logger.recordOutput("OdomPose", robotContainer.getDriveBase().getSimulationRawOdomPose());
                 }
             }
         }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 86ab1c78..701ca5c4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -11,6 +11,7 @@
 import choreo.auto.AutoFactory;
 import choreo.auto.AutoRoutine;
 import choreo.auto.AutoTrajectory;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -83,6 +84,9 @@
 import frc.robot.utils.simulation.RobotVisualizer;
 import swervelib.SwerveInputStream;
 import swervelib.imu.SwerveIMU;
+import swervelib.simulation.ironmaple.simulation.SimulatedArena;
+import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnField;
+
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -150,15 +154,16 @@ public RobotContainer() {
                                 turretSubsystem = new TurretSubsystem(TurretSubsystem.createRealIo());
                                 climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createRealIo());
                                 feederSubsystem = new FeederSubsystem(FeederSubsystem.createRealIo());
-                                shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createRealIo());
+
                                 RealGyroIo gyroIo = (RealGyroIo) GyroSubsystem.createRealIo();
                                 ThreadedGyro threadedGyro = gyroIo.getThreadedGyro();
                                 gyroSubsystem = new GyroSubsystem(gyroIo);
                                 SwerveIMU swerveIMU = new ThreadedGyroSwerveIMU(threadedGyro);
                                 drivebase = !Constants.TESTBED ? new SwerveSubsystem(
                                                 new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), swerveIMU) : null;
-                            apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createRealIo(), drivebase, truster) : null;
-                            controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase,intakeDeployer, this) : null;
+                            shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createRealIo());
+                                apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createRealIo(), drivebase, truster) : null;
+                            controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase,intakeDeployer, this, turretSubsystem) : null;
                                  lightStripSubsystem = new LightStripSubsystem(drivebase, shootState);
                                 powerDistribution.setSwitchableChannel(true);
                                 }
@@ -169,14 +174,15 @@ public RobotContainer() {
                                 climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createMockIo());
                                 feederSubsystem = new FeederSubsystem(FeederSubsystem.createMockIo());
                                 turretSubsystem = new TurretSubsystem(TurretSubsystem.createMockIo());
-                                shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createMockIo());
+
                                 intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createMockIo());
 
                                 // No GyroSubsystem in REPLAY for now
                 // create the drive subsystem with null gyro (use default json)
                 drivebase = !Constants.TESTBED ? new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), null) : null;
+                            shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createMockIo());
                 apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createMockIo(), drivebase, truster) : null;
-                controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase, intakeDeployer, this) : null;
+                controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase, intakeDeployer, this, turretSubsystem) : null;
                                 lightStripSubsystem = new LightStripSubsystem(drivebase, shootState);
 
             }
@@ -188,13 +194,14 @@ public RobotContainer() {
                                 climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createSimIo(robotVisualizer));
                                 feederSubsystem = new FeederSubsystem(FeederSubsystem.createSimIo(robotVisualizer));
                                 turretSubsystem = new TurretSubsystem(TurretSubsystem.createSimIo(robotVisualizer));
-                                shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createSimIo(robotVisualizer));
+
                                 intakeDeployer = new IntakeDeployerSubsystem(
                                                 IntakeDeployerSubsystem.createSimIo(robotVisualizer));// No GyroSubsystem in REPLAY for now
 
                                                 // create the drive subsystem with null gyro (use default json)
                 drivebase = !Constants.TESTBED ? new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "YAGSL/" + Constants.SWERVE_JSON_DIRECTORY), null) : null;
-                controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase, intakeDeployer, this) : null;
+                shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createSimIo(robotVisualizer));
+                controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase, intakeDeployer, this, turretSubsystem) : null;
                 apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createSimIo(truster,drivebase), drivebase, truster) : null;
                                 lightStripSubsystem = new LightStripSubsystem(drivebase, shootState);
 
@@ -209,6 +216,7 @@ public RobotContainer() {
                 autoChooser = new AutoChooser(drivebase, shootState, autoFactory, shooterSubsystem, climberSubsystem, feederSubsystem, hopperSubsystem, turretSubsystem, anglerSubsystem, controllerSubsystem, intakeDeployer);
                 configureBindings();
                 putShuffleboardCommands();
+
         }
 
 
@@ -336,6 +344,10 @@ private void configureBindings() {
         }
 
         public void putShuffleboardCommands() {
+                                        SmartDashboard.putData(
+                                        "Shooting State: Auto aim",
+                                        new SetShootingState(shootState, ShootState.AUTO_AIM));
+
                 if (Constants.DEBUG) {
                         SmartDashboard.putNumber(RunDashboardShotTest.ANGLER_TARGET_POSITION_KEY, 0.0);
                         SmartDashboard.putNumber(RunDashboardShotTest.SHOOTER_TARGET_RPM_KEY, Constants.SHOOTER_SPEED);
diff --git a/src/main/java/frc/robot/apriltags/SimApriltagIO.java b/src/main/java/frc/robot/apriltags/SimApriltagIO.java
index 80cc9d06..d8ad47a1 100644
--- a/src/main/java/frc/robot/apriltags/SimApriltagIO.java
+++ b/src/main/java/frc/robot/apriltags/SimApriltagIO.java
@@ -44,8 +44,8 @@ public void simReadings() {
                     if (cosIncidenceAngle!=0 && distance / cosIncidenceAngle < Constants.MAX_VISION_DISTANCE_SIMULATION) {
                         VisionMeasurement measurement = new VisionMeasurement(new Pose2d(), distance, 0, 0);
                         Vector<N3> stdDevs = truster.calculateTrust(measurement);
-                        double readingX = pose.getX() + random.nextGaussian() * stdDevs.get(0);
-                        double readingY = pose.getY() + random.nextGaussian() * stdDevs.get(1);
+                        double readingX = pose.getX(); //+ random.nextGaussian() * stdDevs.get(0);
+                        double readingY = pose.getY(); //+ random.nextGaussian() * stdDevs.get(1);
                         double readingYaw = pose.getRotation().getDegrees() + random.nextGaussian() * stdDevs.get(2);
                         Pose2d readingPos = new Pose2d(readingX, readingY, Rotation2d.fromDegrees(readingYaw));
                         distance = readingPos.getTranslation().getDistance(tag.getPose().toPose2d().getTranslation());
diff --git a/src/main/java/frc/robot/autochooser/AutoAction.java b/src/main/java/frc/robot/autochooser/AutoAction.java
index ce806027..142ace20 100644
--- a/src/main/java/frc/robot/autochooser/AutoAction.java
+++ b/src/main/java/frc/robot/autochooser/AutoAction.java
@@ -8,6 +8,7 @@
 public enum AutoAction {
   DO_NOTHING("Do Nothing"),
   SHOOT("Shoot"),
+  FAST_SHOOT("Fast Shoot"),
   //SHOOT_PICKUP("Shoot and Pickup"),
   //DISTURBANCE("Disturbance"),
   //NEUTRAL_ZONE("Shoot and Neutral Zone Pickup"),
diff --git a/src/main/java/frc/robot/autochooser/AutoChooser.java b/src/main/java/frc/robot/autochooser/AutoChooser.java
index cec590a7..99470516 100644
--- a/src/main/java/frc/robot/autochooser/AutoChooser.java
+++ b/src/main/java/frc/robot/autochooser/AutoChooser.java
@@ -11,6 +11,7 @@
 import frc.robot.Robot;
 import frc.robot.commands.auto.neutral.DepotNeutral;
 import frc.robot.commands.auto.neutral.OutpostNeutral;
+import frc.robot.commands.auto.newauto.FastDepot;
 import frc.robot.commands.auto.shoot.ShootBlue;
 import frc.robot.commands.auto.shoot.ShootRed;
 import frc.robot.commands.auto.disturbance.DepotDisturbance;
@@ -125,6 +126,10 @@ private void populateCommandMap() {
             new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake));
         commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE, Alliance.Blue),
             new ShootBlue(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake));
+
+        commandMap.put(new AutoEvent(AutoAction.FAST_SHOOT, FieldLocation.FAST_DEPOT),
+            new FastDepot(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake));
+        
     
         /*
         //shoot-pickup
diff --git a/src/main/java/frc/robot/autochooser/FieldLocation.java b/src/main/java/frc/robot/autochooser/FieldLocation.java
index 3bdae5c9..18e718a0 100644
--- a/src/main/java/frc/robot/autochooser/FieldLocation.java
+++ b/src/main/java/frc/robot/autochooser/FieldLocation.java
@@ -17,7 +17,8 @@ public enum FieldLocation {
   INVALID(-1, -1, -1, "INVALID"),
   DEPOT_SIDE(3.599, 7.33, 180, "Depot side - Driver Station LEFT"),  //robot is 24 cm away from the wall
   MID(3.599, 4.029, 180, "Middle"),
-  OUTPOST_SIDE(3.599, 0.67, 180, "Outpost side - Driver Station RIGHT"); //robot is 24 cm away from the wall
+  OUTPOST_SIDE(3.599, 0.67, 180, "Outpost side - Driver Station RIGHT"), //robot is 24 cm away from the wall
+  FAST_DEPOT(3.596, 5.06, 180, "Depot side - for the fast auto"); //robot's back left corner is next to hopper corner
 
   private static final double RED_X_POS = 9.338; // meters
   public static final double HEIGHT_OF_FIELD = 8.043;
diff --git a/src/main/java/frc/robot/commands/auto/newauto/FastDepot.java b/src/main/java/frc/robot/commands/auto/newauto/FastDepot.java
new file mode 100644
index 00000000..7bed88a6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/auto/newauto/FastDepot.java
@@ -0,0 +1,32 @@
+package frc.robot.commands.auto.newauto;
+
+import choreo.auto.AutoFactory;
+import frc.robot.commands.auto.AutoReset;
+import frc.robot.commands.auto.AutoShoot;
+import frc.robot.commands.shooter.SetShootingState;
+import frc.robot.constants.enums.ShootingState;
+import frc.robot.constants.enums.ShootingState.ShootState;
+import frc.robot.subsystems.*;
+import frc.robot.subsystems.swervedrive.SwerveSubsystem;
+import frc.robot.utils.logging.commands.LoggableCommandWrapper;
+import frc.robot.utils.logging.commands.LoggableParallelCommandGroup;
+import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup;
+import frc.robot.utils.logging.commands.LoggableWaitCommand;
+
+public class FastDepot extends LoggableSequentialCommandGroup {
+    public FastDepot(
+            SwerveSubsystem drivetrain, AutoFactory auto, ShooterSubsystem shooter, ShootingState shootstate,
+            HopperSubsystem hopper, FeederSubsystem feeder, TurretSubsystem turret, AnglerSubsystem angler,
+            ControllerSubsystem controller, IntakeDeployerSubsystem intake) {
+        super(  
+            new LoggableParallelCommandGroup(
+                LoggableCommandWrapper.wrap(auto.resetOdometry("Depot_Fast")),
+                LoggableCommandWrapper.wrap(auto.trajectoryCmd("Depot_Fast")),
+                new AutoReset(shootstate, turret, angler),
+                new SetShootingState(shootstate, ShootState.AUTO_AIM)
+            ),
+            new LoggableWaitCommand(3),
+            new AutoShoot(hopper, feeder, 0)
+        );
+    }
+}
diff --git a/src/main/java/frc/robot/commands/lightStrip/SetLed.java b/src/main/java/frc/robot/commands/lightStrip/SetLed.java
index 4158e718..87dc24e5 100644
--- a/src/main/java/frc/robot/commands/lightStrip/SetLed.java
+++ b/src/main/java/frc/robot/commands/lightStrip/SetLed.java
@@ -57,6 +57,9 @@ public void execute() {
             case SHOOTING_HUB:
                 lightStrip.setPattern(BlinkinPattern.RAINBOW_RAINBOW_PALETTE);
                 break;
+            case AUTO_AIM:
+                lightStrip.setPattern(BlinkinPattern.RAINBOW_LAVA_PALETTE);
+                break;
             case SHUTTLING:
                 lightStrip.setPattern(BlinkinPattern.GREEN);
                 break;
diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java
index 78c19113..ef6ffcd8 100644
--- a/src/main/java/frc/robot/constants/GameConstants.java
+++ b/src/main/java/frc/robot/constants/GameConstants.java
@@ -1,8 +1,6 @@
 package frc.robot.constants;
 
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.*;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotBase;
 import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
@@ -36,7 +34,7 @@ public enum Mode {
     public static final boolean ENABLE_LOGGING = true;
 
     //Debugs
-    public static final boolean DEBUG = false;
+    public static final boolean DEBUG = true;
     public static final boolean ARM_DEBUG = true;
 
     //Joystick
@@ -101,12 +99,12 @@ public enum Mode {
     public static final double ANGLER_FF = 0.0;
     public static final double ANGLER_HOME_ROTATIONS = 0.0;
     public static final double ANGLER_ENCODER_LOW = 0; //Lowest encoder position of Angler
-    public static final double ANGLER_ENCODER_HIGH = 272; //Highest encoder position of Angler
-    public static final double ANGLER_ANGLE_LOW = 16; //Lowest angle position of Angler
-    public static final double ANGLER_ANGLE_HIGH = 37; //Highest angle position of Angler
+    public static final double ANGLER_ENCODER_HIGH = 265; //Highest encoder position of Angler
+    public static final double ANGLER_ANGLE_LOW = 17; //Lowest angle position of Angler
+    public static final double ANGLER_ANGLE_HIGH = 38; //Highest angle position of Angler
     public static final double ANGLER_FIXED_ROTATIONS = 0.1; //Fixed encoder position of Angler in Fixed ShootState
     public static final double ANGLER_FIXED_ANGLE = 10; //Fixed encoder position of Angler in Fixed ShootState
-    public static final double ANGLER_LIMIT_SPEED = 0.3;
+    public static final double ANGLER_LIMIT_SPEED = 0.5;
 
 
  // turret (pan angle) PID
@@ -121,8 +119,8 @@ public enum Mode {
     public static final double TURRET_ENCODER_MIN = 0; //Lowest encoder position of Turret
     public static final double TURRET_ENCODER_MAX = 77; //Highest encoder position of Turret
     public static final double TURRET_HOME_ANGLE = 0.0; //Turret facing forward
-    public static final double TURRET_MIN_ANGLE = -92;
-    public static final double TURRET_MAX_ANGLE = 92;
+    public static final double TURRET_MIN_ANGLE = -96;
+    public static final double TURRET_MAX_ANGLE = 96;
     public static final double TURRET_LIMIT_SPEED = 0.2;
     public static final double TURRET_OUT_OF_RANGE_FLOP_RPM = -1500.0;
     public static final double TURRET_PID_DISTANCE_THRESHOLD = 10;
@@ -143,12 +141,11 @@ public enum Mode {
     public static final double GRAVITY = 9.81;
     public static final double HUB_HEIGHT = 1.83;
     public static final double SHOOTER_HEIGHT = 0.5;
-    public static final double BLUE_HUB_X_POSITION = 4.6256;
-    public static final double BLUE_HUB_Y_POSITION = 4.0345;
-    public static final double RED_HUB_X_POSITION = 11.9154;
-    public static final double RED_HUB_Y_POSITION = 4.0345;
-    public static final double X_DISTANCE_BETWEEN_ROBOT_AND_TURRET = .05;
-    public static final double Y_DISTANCE_BETWEEN_ROBOT_AND_TURRET = .12;
+    public static final Pose2d BLUE_HUB_POS = new Pose2d(4.6256, 4.0345, new Rotation2d());
+    public static final Pose2d RED_HUB_POS = new Pose2d(11.9154, 4.0345, new Rotation2d());
+    public static final Transform2d TURRET_OFFSET = new Transform2d(0.05, 0.12, new Rotation2d()); //TODO: needs value from hardware
+    public static final boolean ACCOUNT_FOR_ANGULAR_MOMENTUM = true;
+    public static final double DISTANCE_BETWEEN_ROBOT_AND_TURRET = TURRET_OFFSET.getTranslation().getNorm();
 
     // Shift timings
     public static final int SHIFT_1_START = 10;
@@ -179,4 +176,5 @@ public enum Mode {
     public static final double BLUE_SHUTTLING_TARGET_X_POSITION = 2.8;
     public static final double SHUTTLING_TARGET_LOWER_Y_POSITION = 2.6;
     public static final double SHUTTLING_TARGET_HIGHER_Y_POSITION = 5.5;
+    public static final double PIECES_PER_SECOND = 10;
 }
diff --git a/src/main/java/frc/robot/constants/enums/ShootingState.java b/src/main/java/frc/robot/constants/enums/ShootingState.java
index 18e1141c..b01aec87 100644
--- a/src/main/java/frc/robot/constants/enums/ShootingState.java
+++ b/src/main/java/frc/robot/constants/enums/ShootingState.java
@@ -8,7 +8,8 @@ public enum ShootState {
         FIXED,          // Shoot from a known location
         FIXED_2,        // Shoot from another known location
         SHOOTING_HUB,   // Auto-aim into the hub
-        SHUTTLING       // Auto-aim into alliance zone
+        SHUTTLING,     // Auto-aim into alliance zone
+        AUTO_AIM        //auto aim without hopper and feeder
 
     }
 
diff --git a/src/main/java/frc/robot/subsystems/ControllerSubsystem.java b/src/main/java/frc/robot/subsystems/ControllerSubsystem.java
index 4f4f7366..28a534d4 100644
--- a/src/main/java/frc/robot/subsystems/ControllerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ControllerSubsystem.java
@@ -1,9 +1,11 @@
 package frc.robot.subsystems;
 
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Twist2d;
+import edu.wpi.first.math.geometry.*;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import frc.robot.Robot;
+import frc.robot.constants.enums.ShootingState;
 import frc.robot.utils.math.TurretCalculations;
 
 import java.util.ArrayList;
@@ -14,9 +16,6 @@
 import frc.robot.RobotContainer;
 import frc.robot.commands.intakeDeployment.SetDeploymentState;
 import frc.robot.commands.intakeDeployment.ToggleDeployment;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -25,6 +24,11 @@
 import frc.robot.constants.enums.DeploymentState;
 import frc.robot.constants.enums.ShootingState.ShootState;
 import frc.robot.subsystems.swervedrive.SwerveSubsystem;
+import swervelib.simulation.ironmaple.simulation.SimulatedArena;
+import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnFly;
+import swervelib.simulation.ironmaple.utils.FieldMirroringUtils;
+
+import javax.naming.ldap.Control;
 
 public class ControllerSubsystem extends SubsystemBase {
 
@@ -32,10 +36,10 @@ public class ControllerSubsystem extends SubsystemBase {
     private static final double SHOOT_DELAY_SECONDS = 1.5;
 
     // Placeholder target poses until real field target values are finalized
-    private static final Pose2d BLUE_HUB_TARGET_POSE = new Pose2d(Constants.BLUE_HUB_X_POSITION,
-            Constants.BLUE_HUB_Y_POSITION, Rotation2d.kZero);
-    private static final Pose2d RED_HUB_TARGET_POSE = new Pose2d(Constants.RED_HUB_X_POSITION,
-            Constants.RED_HUB_Y_POSITION, Rotation2d.kZero);
+    private static final Pose2d BLUE_HUB_TARGET_POSE = Constants.BLUE_HUB_POS;
+    private static final Pose2d RED_HUB_TARGET_POSE = Constants.RED_HUB_POS;
+    private static Pose2d BLUE_SHUTTLING_TARGET = new Pose2d(Constants.BLUE_SHUTTLING_TARGET_X_POSITION, Constants.SHUTTLING_TARGET_LOWER_Y_POSITION, new Rotation2d());
+    private static Pose2d RED_SHUTTLING_TARGET = new Pose2d(Constants.RED_SHUTTLING_TARGET_X_POSITION, Constants.SHUTTLING_TARGET_LOWER_Y_POSITION, new Rotation2d());
     private static final String MANUAL_POSE_X_KEY = "controller/ManualPoseX";
     private static final String MANUAL_POSE_Y_KEY = "controller/ManualPoseY";
     private static final String MANUAL_POSE_R_KEY = "controller/ManualPoseRotation";
@@ -60,9 +64,9 @@ public class ControllerSubsystem extends SubsystemBase {
             14.0);
     private static final PoseControlProfile RED_HUB_PROFILE = new PoseControlProfile(RED_HUB_TARGET_POSE, 32.0, 230.0,
             14.0);
-    private static final PoseControlProfile RED_SHUTTLE_PROFILE = new PoseControlProfile(RED_HUB_TARGET_POSE, 37.0, 90.0,
+    private static PoseControlProfile RED_SHUTTLE_PROFILE = new PoseControlProfile(RED_SHUTTLING_TARGET, 37.0, 90.0,
             -14.0);
-    private static final PoseControlProfile BLUE_SHUTTLE_PROFILE = new PoseControlProfile(BLUE_HUB_TARGET_POSE, 37.0, 90.0,
+    private static PoseControlProfile BLUE_SHUTTLE_PROFILE = new PoseControlProfile(BLUE_SHUTTLING_TARGET, 37.0, 90.0,
             -14.0);
 
     private final SwerveSubsystem drivebase;
@@ -74,13 +78,16 @@ public class ControllerSubsystem extends SubsystemBase {
     private ShootState previousState;
     private ShotTargets activeTargets;
     private boolean driverActivatedShooting = false;
+    private final TurretSubsystem turret;
+    private double lastShot;
 
-    public ControllerSubsystem(SwerveSubsystem drivebase, IntakeDeployerSubsystem intakeDeployer, RobotContainer robotContainer) {
+    public ControllerSubsystem(SwerveSubsystem drivebase, IntakeDeployerSubsystem intakeDeployer, RobotContainer robotContainer, TurretSubsystem turret) {
         this.drivebase = drivebase;
         this.robotContainer = robotContainer;
         this.previousState = getCurrentShootState();
         this.activeTargets = STOPPED_TARGETS;
         this.intakeDeployer = intakeDeployer;
+        this.turret = turret;
 
         SmartDashboard.putNumber(MANUAL_POSE_X_KEY, 0.0);
         SmartDashboard.putNumber(MANUAL_POSE_Y_KEY, 0.0);
@@ -91,9 +98,10 @@ public ControllerSubsystem(SwerveSubsystem drivebase, IntakeDeployerSubsystem in
     public void periodic() {
         Pose2d robotPose = getRobotPose();
         ShootState currentState = getCurrentShootState();
+        ChassisSpeeds robotSpeeds = getRobotSpeeds();
         updateStopDelayState(currentState);
         updateShootDelayState(currentState);
-        updateTargets(currentState, robotPose);
+        updateTargets(currentState, robotPose, robotSpeeds);
         if (Constants.DEBUG) {
             SmartDashboard.putString(CURRENT_SHOOT_STATE_KEY, currentState.toString());
             SmartDashboard.putNumber(DISTANCE_METERS_KEY, activeTargets.distanceMeters);
@@ -112,11 +120,50 @@ public void periodic() {
             Logger.recordOutput(TARGET_HOPPER_SPEED_KEY, activeTargets.hopperSpin);
         }
         previousState = currentState;
+//        Logger.recordOutput("FieldSimulation/Fuel",
+//                SimulatedArena.getInstance().getGamePiecesArrayByType("Fuel"));
+        if (SimulatedArena.getInstance().getGamePiecesArrayByType("Fuel").length >58) {
+            SimulatedArena.getInstance().clearGamePieces();
+        }
+        if (Logger.getTimestamp()-lastShot>1000000/Constants.PIECES_PER_SECOND) {
+            lastShot = Logger.getTimestamp();
+            if (robotContainer.getShootingState().getShootState() != ShootingState.ShootState.STOPPED) {
+                Translation2d target = (Robot.allianceColor().get().equals(DriverStation.Alliance.Blue)? BLUE_HUB_TARGET_POSE: RED_HUB_TARGET_POSE).getTranslation();
+                SimulatedArena.getInstance()
+                        .addGamePieceProjectile(new RebuiltFuelOnFly(
+                                drivebase.getSimulationPose().get().getTranslation(),
+                                new Translation2d(), // shooter offet from center
+                                drivebase.getFieldVelocity(),
+                                Rotation2d.fromDegrees(turret.getLastAngle()-180).plus(drivebase.getHeading()),
+                                Units.Meters.of(0.4), // initial height of the ball, in meters
+                                Units.MetersPerSecond.of(calculateShotVelocity(activeTargets.shooterVelocityRpm)), // initial velocity, in m/s
+                                Units.Degrees.of(90-activeTargets.anglerAngleDegrees)) // shooter angle
+                                .withTargetPosition(()-> new Translation3d(target.getX(), target.getY(), 1.82))
+                                        // Set the tolerance: x: ±0.5m, y: ±1.2m, z: ±0.3m (this is the size of the speaker's "mouth")
+                                .withTargetTolerance(new Translation3d(0.4, 0.4, 0.15))
+                                .disableBecomesGamePieceOnFieldAfterTouchGround()
+                                .withHitTargetCallBack(()->Logger.recordOutput("flightTime",(Logger.getTimestamp()-lastShot)/1000000))
+                                .withProjectileTrajectoryDisplayCallBack(
+                                        (poses) -> {/*Logger.recordOutput("successfulShotsTrajectory", poses.toArray(Pose3d[]::new))*/},
+                                        (poses) -> {/*Logger.recordOutput("missedShotsTrajectory", poses.toArray(Pose3d[]::new));*/
+                                            if(!poses.isEmpty()) Logger.recordOutput("missedShotFinal", poses.get(poses.size()-1));}));
+
+            }
+        }
     }
 
     private ShootState getCurrentShootState() {
         return robotContainer.getShootingState().getShootState();
     }
+    private double calculateShotVelocity(double rpm) {
+        double gearRatio = 1; //MotorRotations/WheelRotations
+        double radiusWheel = 0.123825;
+        double efficiencyConstant = 0.42;
+        return -rpm*Math.PI/gearRatio/60*radiusWheel*efficiencyConstant;
+    }
+    private ChassisSpeeds getRobotSpeeds() {
+        return drivebase.getFieldVelocity();
+    }
 
     private Pose2d getRobotPose() {
         boolean useManualPose = shouldUseManualPose();
@@ -154,7 +201,7 @@ private void updateShootDelayState(ShootState currentState) {
         }
     }
 
-    private void updateTargets(ShootState state, Pose2d robotPose) {
+    private void updateTargets(ShootState state, Pose2d robotPose, ChassisSpeeds robotSpeeds) {
         if(!activeTargets.intakeDeploy && intakeDeployer.getDeploymentState() == DeploymentState.DOWN){
             new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED).schedule();
         }
@@ -167,25 +214,38 @@ private void updateTargets(ShootState state, Pose2d robotPose) {
                     // No color, do nothing...
                     useShotTargets(FIXED_TARGETS);
                 } else if (Robot.allianceColor().get().equals(DriverStation.Alliance.Blue)) {
-                    useShotTargets(calculateTargetsFromPose(state, BLUE_HUB_PROFILE, robotPosePredictionCalculation(BLUE_HUB_PROFILE.targetPose,robotPose)));
+                    useShotTargets(calculateTargetsFromPose(state, BLUE_HUB_PROFILE, robotPose, robotSpeeds));
                 } else if (Robot.allianceColor().get().equals(DriverStation.Alliance.Red)) {
-                    useShotTargets(calculateTargetsFromPose(state, RED_HUB_PROFILE, robotPosePredictionCalculation(RED_HUB_PROFILE.targetPose,robotPose)));
+                    useShotTargets(calculateTargetsFromPose(state, RED_HUB_PROFILE, robotPose, robotSpeeds));
                 } else {
                     // Unknown color, do nothing...
                     useShotTargets(FIXED_TARGETS);
                 }
             }
             case SHUTTLING -> {
+                BLUE_SHUTTLING_TARGET = new Pose2d(BLUE_SHUTTLING_TARGET.getX(), drivebase.getPose().getY()>Constants.FIELD_WIDTH/2 ? Constants.SHUTTLING_TARGET_HIGHER_Y_POSITION : Constants.SHUTTLING_TARGET_LOWER_Y_POSITION, new Rotation2d());
+                RED_SHUTTLING_TARGET = new Pose2d(RED_SHUTTLING_TARGET.getX(), drivebase.getPose().getY()>Constants.FIELD_WIDTH/2 ? Constants.SHUTTLING_TARGET_HIGHER_Y_POSITION : Constants.SHUTTLING_TARGET_LOWER_Y_POSITION, new Rotation2d());
+                BLUE_SHUTTLE_PROFILE.targetPose = BLUE_SHUTTLING_TARGET;
+                RED_SHUTTLE_PROFILE.targetPose = RED_SHUTTLING_TARGET;
                 if (Robot.allianceColor().isEmpty()) {
                     useShotTargets(FIXED_TARGETS);
                 } else if (Robot.allianceColor().get().equals(DriverStation.Alliance.Blue)) {
-                    useShotTargets(calculateTargetsFromPose(state,BLUE_SHUTTLE_PROFILE, robotPose));
+                    useShotTargets(calculateTargetsFromPose(state,BLUE_SHUTTLE_PROFILE, robotPose, robotSpeeds));
                 } else if (Robot.allianceColor().get().equals(DriverStation.Alliance.Red)) {
-                    useShotTargets(calculateTargetsFromPose(state, RED_SHUTTLE_PROFILE, robotPose));
+                    useShotTargets(calculateTargetsFromPose(state, RED_SHUTTLE_PROFILE, robotPose, robotSpeeds));
                 } else {
                     useShotTargets(FIXED_TARGETS);
                 }
             }
+            case AUTO_AIM ->{ if (Robot.allianceColor().isEmpty()) {
+                    useShotTargets(FIXED_TARGETS);
+                } else if (Robot.allianceColor().get().equals(DriverStation.Alliance.Blue)) {
+                    useShotTargets(calculateTargetsFromPose(state, BLUE_HUB_PROFILE, robotPose, robotSpeeds));
+                } else if (Robot.allianceColor().get().equals(DriverStation.Alliance.Red)) {
+                    useShotTargets(calculateTargetsFromPose(state, RED_HUB_PROFILE, robotPose, robotSpeeds));
+                } else {
+                    useShotTargets(FIXED_TARGETS);
+                }}
         }
     }
 
@@ -206,7 +266,7 @@ private void updateStoppedTargets() {
     }
 
     private void useShotTargets(ShotTargets shotTargets) {
-        
+
         double shooterVelocityRpm = shotTargets.shooterVelocityRpm;
         if (isTurretTargetOutOfRange(shotTargets.turretAngleDegrees) && shooterVelocityRpm != 0.0) {
             shooterVelocityRpm = Constants.TURRET_OUT_OF_RANGE_FLOP_RPM;
@@ -235,7 +295,7 @@ private void useShotTargets(ShotTargets shotTargets) {
                 false,
                 activeTargets.intakeDeploy);
 
-    }
+        }
 
     }
 
@@ -244,19 +304,26 @@ private boolean isTurretTargetOutOfRange(double turretAngleDegrees) {
                 || turretAngleDegrees > Constants.TURRET_MAX_ANGLE;
     }
 
-    private ShotTargets calculateTargetsFromPose(ShootState state,PoseControlProfile profile, Pose2d robotPose) {
-        double computedDistanceMeters = calculateDistanceMeters(state, robotPose, profile.targetPose);
-        double anglerAngleDegrees = calculateAnglerAngleDegrees(state, computedDistanceMeters, profile);
-        double shooterVelocity = calculateShooterVelocity(state, computedDistanceMeters, profile);
-        double turretAngleDegrees = calculateTurretAngleDegrees(state, robotPose, profile);
-        return new ShotTargets(anglerAngleDegrees, shooterVelocity, turretAngleDegrees, computedDistanceMeters, true,
-                true, true);
+    private ShotTargets calculateTargetsFromPose(ShootState state,PoseControlProfile profile, Pose2d robotPose, ChassisSpeeds robotSpeeds) {
+        Twist2d momentumAdjustment = getMomentumAdjustment(robotPose, Constants.ACCOUNT_FOR_ANGULAR_MOMENTUM, robotSpeeds,
+                equalizeFlightTime(calculateDistanceMeters(state, robotPose, profile.targetPose), robotPose, profile.targetPose, robotSpeeds)/2);
+//                calculateFlightTime(calculateDistanceMeters(state, robotPose, profile.targetPose)));
+        PoseControlProfile adjustedProfile = new PoseControlProfile(profile.targetPose, profile.defaultAnglerAngleDegrees, profile.defaultShooterVelocityRpm, profile.defaultTurretAngleDegrees);
+        adjustedProfile.targetPose = profile.targetPose.exp(momentumAdjustment);
+        Logger.recordOutput("adjustedAimPoint", adjustedProfile.targetPose);
+        double computedDistanceMeters = calculateDistanceMeters(state, robotPose, adjustedProfile.targetPose);
+        boolean shootHub = profile == BLUE_HUB_PROFILE || profile == RED_HUB_PROFILE;
+        double anglerAngleDegrees = calculateAnglerAngleDegrees(state, computedDistanceMeters, adjustedProfile);
+        double shooterVelocity = calculateShooterVelocity(state, computedDistanceMeters, adjustedProfile);
+        double turretAngleDegrees = calculateTurretAngleDegrees(state, robotPose, adjustedProfile);
+        return new ShotTargets(anglerAngleDegrees, shooterVelocity, turretAngleDegrees, computedDistanceMeters, state != ShootState.AUTO_AIM,
+                state != ShootState.AUTO_AIM, true);
     }
 
     private double calculateDistanceMeters(ShootState state,Pose2d robotPose, Pose2d targetPose) {
         double distance = robotPose.getTranslation()
                 .getDistance(targetPose.getTranslation());
-        if(state == ShootState.SHOOTING_HUB){
+        if(state == ShootState.SHOOTING_HUB || state == ShootState.AUTO_AIM){
             if (distance > Constants.MAX_HUB_DISTANCE) {
                 return Constants.MAX_HUB_DISTANCE;
             } else if (distance < Constants.MIN_HUB_DISTANCE) {
@@ -283,43 +350,70 @@ private Pose2d robotPosePredictionCalculation(Pose2d targetPose, Pose2d robotPos
         }
         return predictedPose;
     }
-    //Flight time derived from testing videos
+    // Linear regression through 3 static shot distance vs time points.
     private double calculateFlightTime(double computedDistanceMeters) {
-        return 0.208*computedDistanceMeters + 0.647;
+//        return 0.208*computedDistanceMeters + 0.647;
+        return -0.0778+0.692*computedDistanceMeters-0.0991*computedDistanceMeters*computedDistanceMeters;
+    }
+
+    // Since t(x)=mx+b (previous function), we can solve for x
+    // t = m*(d - v_robot * t)+b
+    // t + v_robot * t = m * d + b
+    // t = (m * d + b) / (v_robot + 1)
+    private double equalizeFlightTime(double initialDistanceMeters, Pose2d robotPose, Pose2d target, ChassisSpeeds robotSpeeds) {
+        return (0.208*initialDistanceMeters+0.647)/(0.208*ChassisSpeeds.fromFieldRelativeSpeeds(robotSpeeds, target.getTranslation().minus(robotPose.getTranslation()).getAngle()).vxMetersPerSecond+1);
     }
 
     private double calculateAnglerAngleDegrees(ShootState state, double computedDistanceMeters, PoseControlProfile profile) {
-        if (state == ShootState.SHOOTING_HUB) {
-            double distance = (UnitConversion.METER_TO_FOOT * computedDistanceMeters) - Constants.COMPUTATED_DISTANCE_OFFSET;
-            return 0.169 * distance * distance
-                    - 1.73 * distance
-                    + 20.4;
-        }
-        return profile.defaultAnglerAngleDegrees;
-    }  
+        double distance = (UnitConversion.METER_TO_FOOT * computedDistanceMeters) - Constants.COMPUTATED_DISTANCE_OFFSET;
+        return 0.169 * distance * distance
+                    - 1.73 * distance +20.4;
+    }
 
     private double calculateShooterVelocity(ShootState state, double computedDistanceMeters, PoseControlProfile profile) {
         double distance = (UnitConversion.METER_TO_FOOT * computedDistanceMeters) - Constants.COMPUTATED_DISTANCE_OFFSET;
-        if (state == ShootState.SHOOTING_HUB) {
+        if (state == ShootState.SHOOTING_HUB || state == ShootState.AUTO_AIM) {
             return (8.46 * distance * distance
                     - 237 * distance
                     - 1380);
         }else if(state == ShootState.SHUTTLING){
             return (((-distance*distance) - 5 * distance) - 2800);
         }
+        //System.out.println("usingDefault");
         return profile.defaultShooterVelocityRpm;
     }
 
     private double calculateTurretAngleDegrees(ShootState state, Pose2d robotPose, PoseControlProfile profile) {
-        if(state == ShootState.SHOOTING_HUB || state == ShootState.SHUTTLING){
+        if(state == ShootState.SHOOTING_HUB || state == ShootState.AUTO_AIM || state == ShootState.SHUTTLING){
             return Math.floor(
-                    Math.toDegrees(TurretCalculations.calculateTurretAngle(state,robotPose.getX(), robotPose.getY(),
-                            robotPose.getRotation().getRadians(),
+                    Math.toDegrees(TurretCalculations.calculateTurretAngle(robotPose,profile.targetPose,
                             Robot.allianceColor().get() == DriverStation.Alliance.Blue)));
         }
             return profile.defaultTurretAngleDegrees;
     }
-
+    public Twist2d getMomentumAdjustment(Pose2d robotPose, boolean useAngularMomentumAdjustment, ChassisSpeeds robotSpeeds, double timeOfFlight) {
+        // calculate the change per second of the turret's position relative to the center due to robot rotation. This
+        // is basically angular speed. Result is in robot coordinate system.
+        ChassisSpeeds adjustSpeeds;
+        if (useAngularMomentumAdjustment) {
+            Translation2d angularVelocityAdjustment = Constants.TURRET_OFFSET.times(robotSpeeds.omegaRadiansPerSecond).getTranslation();
+
+
+            // take the robot's current speed (relative to field)
+            // convert the turret's angular velocity from robot-relative to field-relative
+            // since the rotation velocity is perpendicular to the robot x-axis, so we need to rotate it by 90 degrees
+            // which is why we use -Y,X instead of X,Y for the conversion.
+            // add the two to get the effective speed of the turret/projectile.
+            adjustSpeeds = (new ChassisSpeeds(robotSpeeds.vxMetersPerSecond, robotSpeeds.vyMetersPerSecond, 0)).plus
+                    (ChassisSpeeds.fromRobotRelativeSpeeds(-angularVelocityAdjustment.getY(), angularVelocityAdjustment.getX(), 0.0, robotPose.getRotation()));
+        } else {
+            adjustSpeeds = (new ChassisSpeeds(robotSpeeds.vxMetersPerSecond, robotSpeeds.vyMetersPerSecond, 0));
+        }
+        // convert the effective speed to a twist (displacement over time)
+        // positive timeOfFlight tells us how much we move
+        // negative timeOfFlight tells us how much we need to move to compensate for our movement
+        return adjustSpeeds.toTwist2d(-timeOfFlight);
+    }
     // Getters for all the subsystems to set posistion.
     public double getTargetAnglerAngleDegrees() {
         return activeTargets.anglerAngleDegrees;
@@ -389,7 +483,7 @@ private ShotTargets(
     // Class to save all the target poses and each subsystem position at that point
     // so we can calculate true values later on
     private static final class PoseControlProfile {
-        private final Pose2d targetPose;
+        private Pose2d targetPose;
         private final double defaultAnglerAngleDegrees;
         private final double defaultShooterVelocityRpm;
         private final double defaultTurretAngleDegrees;
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 8d59d1cf..525bff15 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -10,10 +10,17 @@
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Robot;
+import frc.robot.RobotContainer;
 import frc.robot.constants.Constants;
 import frc.robot.constants.GameConstants;
+import frc.robot.constants.enums.ShootingState;
+import frc.robot.subsystems.swervedrive.SwerveSubsystem;
 import frc.robot.utils.diag.DiagSparkMaxEncoder;
 import frc.robot.utils.logging.input.MotorLoggableInputs;
 import frc.robot.utils.logging.io.motor.RealSparkMaxIo;
@@ -27,6 +34,11 @@
 import frc.robot.utils.motor.TunablePIDManager;
 import frc.robot.utils.simulation.MotorSimulator;
 import frc.robot.utils.simulation.RobotVisualizer;
+import org.littletonrobotics.junction.Logger;
+import swervelib.simulation.ironmaple.simulation.SimulatedArena;
+import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnField;
+import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnFly;
+import swervelib.simulation.ironmaple.utils.FieldMirroringUtils;
 
 public class ShooterSubsystem extends SubsystemBase {
     
@@ -76,6 +88,7 @@ public void setPidVelocity(double velocity) {
     public void periodic() {
         pidManager.periodic();
         io.periodic();
+
     }
 
     public static SparkMaxPidMotorIo createMockIo() {
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 2f30b0e8..e0a5c07c 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -68,7 +68,7 @@ public void setAngle(double targetAngle) {
                 Constants.TURRET_MIN_ANGLE);
         if (lastAngle != targetAngle) {
             setPosition(targetRotations);
-            lastAngle = targetAngle;
+            lastAngle = targetAngle; //TODO: Change This
         }
     }
 
@@ -84,6 +84,10 @@ public static double calculateRotationsForAngle(
         return MathUtil.clamp(targetEncoder, encoderLow, encoderHigh);
     }
 
+    public double getLastAngle() {
+        return lastAngle;
+     }
+
     /**
      * Drive forward at the homing speed. Command should stop when limit is hit.
      */
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
index de6f5584..71c63534 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -8,15 +8,14 @@
 import edu.wpi.first.math.Vector;
 import static edu.wpi.first.units.Units.Meter;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.*;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
@@ -38,6 +37,9 @@
 import swervelib.parser.SwerveDriveConfiguration;
 import swervelib.parser.SwerveParser;
 import swervelib.parser.SwerveParserWithImu;
+import swervelib.simulation.ironmaple.simulation.SimulatedArena;
+import swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnFly;
+import swervelib.simulation.ironmaple.utils.FieldMirroringUtils;
 import swervelib.telemetry.SwerveDriveTelemetry;
 import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
 
@@ -123,6 +125,7 @@ public SwerveSubsystem(SwerveDriveConfiguration driveCfg, SwerveControllerConfig
     public void periodic() {
         //add vision pose here
         //addVisionMeasurement(new Pose2d(new Translation2d(16, 2), new Rotation2d()));
+        
     }
 
     @Override
diff --git a/src/main/java/frc/robot/utils/math/TurretCalculations.java b/src/main/java/frc/robot/utils/math/TurretCalculations.java
index ce98ced9..a78e246d 100644
--- a/src/main/java/frc/robot/utils/math/TurretCalculations.java
+++ b/src/main/java/frc/robot/utils/math/TurretCalculations.java
@@ -1,28 +1,30 @@
 package frc.robot.utils.math;
 
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Twist2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
-import frc.robot.constants.Constants;
 import frc.robot.constants.GameConstants;
-import frc.robot.constants.enums.ShootingState.ShootState;
 
 public class TurretCalculations {
 
-    /* 
-     * 
-     * This is a utility class that takes the robot position and provides the pan angle. 
+    /*
+     *
+     * This is a utility class that takes the robot position and provides the pan angle.
      * The pan angle is the angle that the turret should be from the horizontal in radians.
      * For example, when the turret is facing directly forward (with respect to the robot), the pan
-     * angle would be pi/2 radians (1.57). 
-     * 
+     * angle would be pi/2 radians (1.57).
+     *
      * This class takes the robot's x and y positions: robotPosX and robotPosY. These are the
-     * distances (in meters) from the origin. The origin is defined as the bottom right corner 
+     * distances (in meters) from the origin. The origin is defined as the bottom right corner
      * of the blue alliance.
-     * 
+     *
      */
 
     // All angles are in radians, all distances are in meters, all velocities in m/s
@@ -34,61 +36,33 @@ public class TurretCalculations {
     // all positions are in meters
     // robotRotation is in radians
     // Returns - turret angle in radians
-    public static double calculateTurretAngle(ShootState state, double robotPosX, double robotPosY, double robotRotation, boolean isBlueAlliance) {
-        
-        // Get turret offset from robot center
-        double turretOffsetX = GameConstants.X_DISTANCE_BETWEEN_ROBOT_AND_TURRET;
-        double turretOffsetY = GameConstants.Y_DISTANCE_BETWEEN_ROBOT_AND_TURRET;
+    public static double calculateTurretAngle(Pose2d robotPos,Pose2d adjTargetPose, boolean isBlueAlliance) {
 
-        // Rotate the offset by robot rotation (offset rotates with robot)
-        double rotatedOffsetX = turretOffsetX * Math.cos(robotRotation) - turretOffsetY * Math.sin(robotRotation);
-        double rotatedOffsetY = turretOffsetX * Math.sin(robotRotation) + turretOffsetY * Math.cos(robotRotation);
+        Pose2d turretPos = robotPos.transformBy(GameConstants.TURRET_OFFSET);
 
-        // Calculate actual turret position on field
-        double turretPosX = robotPosX + rotatedOffsetX;
-        double turretPosY = robotPosY + rotatedOffsetY;
+        Pose2d hubPos = adjTargetPose;
 
-        double hubPosX;
-        double hubPosY;
-    if(state == ShootState.SHOOTING_HUB) {
-        if (isBlueAlliance) {
-            // hub position determined by which alliance robot is on
-            hubPosX = Constants.BLUE_HUB_X_POSITION;
-            hubPosY = Constants.BLUE_HUB_Y_POSITION;
-        } else {
-            hubPosX = Constants.RED_HUB_X_POSITION;
-            hubPosY = Constants.RED_HUB_Y_POSITION;
-        }
-        }else{
-            //Sets the hubPosX to be either on the blue or red side 
-            //Sets the hubPoseY to be lower or upper depending on the Y position of the robot
-            hubPosX = isBlueAlliance ? Constants.BLUE_HUB_X_POSITION : Constants.RED_HUB_X_POSITION;
-            hubPosY = robotPosY > (Constants.FIELD_WIDTH / 2) ? Constants.SHUTTLING_TARGET_HIGHER_Y_POSITION : Constants.SHUTTLING_TARGET_LOWER_Y_POSITION;
-        } 
-            /*
-             * This finds the unadjusted pan angle (assuming there is no robot rotation) using
-             * trigonometry. We take the arctangent of the y-distance beween the robot and the hub
-             * and the x-distance between the robot and the hub, giving us the unadjusted pan
-             * angle. The function atan2 ensures the sign of the angle is correct based on the signs
-             * of the input numbers.
-             * 
-             */
-            if(Constants.DEBUG){
-            Logger.recordOutput("Hub pose", new Pose2d(new Translation2d(hubPosX,hubPosY), new Rotation2d()));
-            }
-            double panAngleUnadjusted = Math.atan2(hubPosY - turretPosY, hubPosX - turretPosX);
+        /*
+         * This finds the unadjusted pan angle (assuming there is no robot rotation) using
+         * trigonometry. We take the arctangent of the y-distance beween the robot and the hub
+         * and the x-distance between the robot and the hub, giving us the unadjusted pan
+         * angle. The function atan2 ensures the sign of the angle is correct based on the signs
+         * of the input numbers.
+         *
+         */
+        Translation2d hubRelativeToRobot = hubPos.relativeTo(turretPos).getTranslation();
 
         /*
          * Adjusts the pan angle to account for the robot's current rotation. We subtract the
-         * angle of the robot's rotation from the unadjusted angle of the turret to find the 
+         * angle of the robot's rotation from the unadjusted angle of the turret to find the
          * pan angle, which is the proper angle of the turret adjusted for the robot's rotation
          * and the fact that the turret 0 angle in in the back of the robot.
          */
-        double panAngle = panAngleUnadjusted - (robotRotation + Math.PI);
+        double panAngle = hubRelativeToRobot.getAngle().getRadians()+Math.PI;
 
         // normalize angle between -PI and PI
         double normalizedPanAngle = panAngle - 2 * Math.PI * Math.floor((panAngle + Math.PI) / (2 * Math.PI));
         return normalizedPanAngle;
     }
 
-}
+}
\ No newline at end of file
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
index 162ad66b..b4e470d3 100644
--- a/vendordeps/AdvantageKit.json
+++ b/vendordeps/AdvantageKit.json
@@ -1,7 +1,7 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "26.0.0",
+    "version": "26.0.2",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
     "frcYear": "2026",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-java",
-            "version": "26.0.0"
+            "version": "26.0.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-wpilibio",
-            "version": "26.0.0",
+            "version": "26.0.2",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [
diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json
index 322c9e20..48751078 100644
--- a/vendordeps/ChoreoLib2026.json
+++ b/vendordeps/ChoreoLib2026.json
@@ -1,7 +1,7 @@
 {
     "fileName": "ChoreoLib2026.json",
     "name": "ChoreoLib",
-    "version": "2026.0.1",
+    "version": "2026.0.2",
     "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
     "frcYear": "2026",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "choreo",
             "artifactId": "ChoreoLib-java",
-            "version": "2026.0.1"
+            "version": "2026.0.2"
         },
         {
             "groupId": "com.google.code.gson",
@@ -26,7 +26,7 @@
         {
             "groupId": "choreo",
             "artifactId": "ChoreoLib-cpp",
-            "version": "2026.0.1",
+            "version": "2026.0.2",
             "libName": "ChoreoLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/Phoenix6-replay-26.1.0.json b/vendordeps/Phoenix6-replay-26.1.3.json
similarity index 92%
rename from vendordeps/Phoenix6-replay-26.1.0.json
rename to vendordeps/Phoenix6-replay-26.1.3.json
index e49c760a..e4dd4e45 100644
--- a/vendordeps/Phoenix6-replay-26.1.0.json
+++ b/vendordeps/Phoenix6-replay-26.1.3.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-replay-26.1.0.json",
+    "fileName": "Phoenix6-replay-26.1.3.json",
     "name": "CTRE-Phoenix (v6) Replay",
-    "version": "26.1.0",
+    "version": "26.1.3",
     "frcYear": "2026",
     "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.1.0"
+            "version": "26.1.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -48,7 +48,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "api-cpp-replay",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -62,7 +62,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "tools-replay",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -76,7 +76,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -104,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -118,7 +118,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -132,7 +132,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -146,7 +146,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -160,7 +160,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -174,7 +174,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -188,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -202,7 +202,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -216,7 +216,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -230,7 +230,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -246,7 +246,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -259,7 +259,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "wpiapi-cpp-replay",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPIReplay",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "tools-replay",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools_Replay",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -448,7 +448,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -464,7 +464,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -480,7 +480,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index d35e5938..c6b1b9e4 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2026.0.1",
+    "version": "2026.0.5",
     "frcYear": "2026",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2026.0.1"
+            "version": "2026.0.5"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2026.0.1",
+            "version": "2026.0.5",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -34,7 +34,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
-            "version": "2026.0.1",
+            "version": "2026.0.5",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -49,7 +49,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
-            "version": "2026.0.1",
+            "version": "2026.0.5",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -66,7 +66,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2026.0.1",
+            "version": "2026.0.5",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -83,7 +83,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2026.0.1",
+            "version": "2026.0.5",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -100,7 +100,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
-            "version": "2026.0.1",
+            "version": "2026.0.5",
             "libName": "BackendDriver",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -116,7 +116,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
-            "version": "2026.0.1",
+            "version": "2026.0.5",
             "libName": "REVLibWpi",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
diff --git a/vendordeps/ReduxLib-2026.1.1.json b/vendordeps/ReduxLib-2026.1.2.json
similarity index 89%
rename from vendordeps/ReduxLib-2026.1.1.json
rename to vendordeps/ReduxLib-2026.1.2.json
index 09dd4f08..46e64b20 100644
--- a/vendordeps/ReduxLib-2026.1.1.json
+++ b/vendordeps/ReduxLib-2026.1.2.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "ReduxLib-2026.1.1.json",
+    "fileName": "ReduxLib-2026.1.2.json",
     "name": "ReduxLib",
-    "version": "2026.1.1",
+    "version": "2026.1.2",
     "frcYear": "2026",
     "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-java",
-            "version": "2026.1.1"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-fifo",
-            "version": "2026.1.1",
+            "version": "2026.1.2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -35,7 +35,7 @@
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-cpp",
-            "version": "2026.1.1",
+            "version": "2026.1.2",
             "libName": "ReduxLib",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",
@@ -52,7 +52,7 @@
         {
             "groupId": "com.reduxrobotics.frc",
             "artifactId": "ReduxLib-fifo",
-            "version": "2026.1.1",
+            "version": "2026.1.2",
             "libName": "reduxfifo",
             "headerClassifier": "headers",
             "sharedLibrary": true,
diff --git a/vendordeps/ThriftyLib-2026.json b/vendordeps/ThriftyLib-2026.json
index 9aa58086..9ad94e71 100644
--- a/vendordeps/ThriftyLib-2026.json
+++ b/vendordeps/ThriftyLib-2026.json
@@ -1,7 +1,7 @@
 {
     "fileName": "ThriftyLib-2026.json",
     "name": "ThriftyLib",
-    "version": "2026.0.1",
+    "version": "2026.1.2",
     "frcYear": "2026",
     "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.thethriftybot.frc",
             "artifactId": "ThriftyLib-java",
-            "version": "2026.0.1"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [],
diff --git a/vendordeps/yagsl-2026.1.20.json b/vendordeps/yagsl-2026.3.12.json
similarity index 65%
rename from vendordeps/yagsl-2026.1.20.json
rename to vendordeps/yagsl-2026.3.12.json
index 40d4b399..c0f23969 100644
--- a/vendordeps/yagsl-2026.1.20.json
+++ b/vendordeps/yagsl-2026.3.12.json
@@ -1,7 +1,7 @@
 {
-    "fileName": "yagsl-2026.1.20.json",
+    "fileName": "yagsl-2026.3.12.json",
     "name": "YAGSL",
-    "version": "2026.1.20",
+    "version": "2026.3.12",
     "frcYear": "2026",
     "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "swervelib",
             "artifactId": "YAGSL-java",
-            "version": "2026.1.20"
+            "version": "2026.3.12"
         },
         {
             "groupId": "org.dyn4j",
@@ -34,18 +34,6 @@
             "offlineFileName": "REVLib.json",
             "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json"
         },
-        {
-            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-            "errorMessage": "Phoenix6 Replay is required!",
-            "offlineFileName": "Phoenix6-replay-26.1.0.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json"
-        },
-        {
-            "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
-            "errorMessage": "Phoenix5 Replay Compatibility is required!",
-            "offlineFileName": "Phoenix5-replay-5.36.0.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json"
-        },
         {
             "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0",
             "errorMessage": "ThriftyLib is required!",