diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
index 9f32c7b4..508e25b4 100644
--- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java
+++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
@@ -225,19 +225,33 @@ public static Rotation2d getTargetRotation(Translation2d target, Pose2d robotPos
 
   public static Rotation2d getVirtualTargetYaw(
       Translation2d target, ChassisSpeeds fieldRelativeSpeeds, Pose2d robotPose, double tof) {
-    Translation2d vtarget = getVirtualSOTMTarget(target, fieldRelativeSpeeds, tof);
+    Translation2d vtarget = getVirtualSOTMTarget(robotPose, target, fieldRelativeSpeeds, tof);
     return getTargetRotation(vtarget, robotPose);
   }
 
   // lock in
   public static Translation2d getVirtualSOTMTarget(
-      Translation2d target, ChassisSpeeds fieldRelativeSpeeds, double timeOfFlightSecs) {
-    // velocity times shot time is how translated it is
-    Translation2d vtarget =
-        target.minus(
-            new Translation2d(
-                fieldRelativeSpeeds.vxMetersPerSecond * timeOfFlightSecs,
-                fieldRelativeSpeeds.vyMetersPerSecond * timeOfFlightSecs));
+      Pose2d robotPose,
+      Translation2d target,
+      ChassisSpeeds fieldRelativeSpeeds,
+      double timeOfFlightSecs) {
+
+    Translation2d vtarget = target;
+    Pose2d vrobot = robotPose;
+
+    for (int i = 0; i < 20; i++) {
+      double tof = COMP_HUB_SHOT_TREE.get(distanceToHub(vrobot)).timeOfFlightSecs();
+      vrobot =
+          robotPose.exp(
+              new Twist2d(
+                  fieldRelativeSpeeds.vxMetersPerSecond * (tof),
+                  fieldRelativeSpeeds.vyMetersPerSecond * (tof),
+                  fieldRelativeSpeeds.omegaRadiansPerSecond * (tof)));
+
+      Translation2d delta = vrobot.getTranslation().minus(robotPose.getTranslation());
+
+      vtarget = target.minus(delta);
+    }
     Logger.recordOutput("Autoaim/Virtual Target", vtarget);
     return vtarget;
   }
@@ -315,7 +329,7 @@ public static ShotData getSOTMShotData(
     ShotData unadjustedShot = tree.calculateShot(robotPose, targetTranslation);
     Translation2d virtualTarget =
         getVirtualSOTMTarget(
-            targetTranslation, fieldRelativeSpeeds, unadjustedShot.timeOfFlightSecs());
+            robotPose, targetTranslation, fieldRelativeSpeeds, unadjustedShot.timeOfFlightSecs());
     Pose2d turretPose = getTurretPose(robotPose);
 
     return tree.get(turretPose.getTranslation().getDistance(virtualTarget));
@@ -329,15 +343,16 @@ public static ShotData getSOTMShotDataNewtonsMethod(
 
     ShotData baseline = tree.calculateShot(robotPose, targetTranslation);
 
-    Pose2d turretPose = getTurretPose(robotPose);
-    Translation2d turretToTarget = targetTranslation.minus(turretPose.getTranslation());
+    // Pose2d turretPose = getTurretPose(robotPose);
+    // Translation2d turretToTarget = targetTranslation.minus(turretPose.getTranslation());
 
-    double distance = turretToTarget.getNorm();
+    Translation2d robotToTarget = targetTranslation.minus(robotPose.getTranslation());
+    double distance = robotToTarget.getNorm();
 
     // get just direction of vector because its vector divded by length
     // dont want to account for magnitude bc the speed we are going and shot tree do
     // and we just want direction to find dot product
-    Translation2d shotDirection = turretToTarget.div(distance);
+    Translation2d shotDirection = robotToTarget.div(distance);
 
     // dot product! <3
     // get how fast we are going towards where we are shooting