diff --git a/Robot/src/main/java/com/swrobotics/robot/config/NTData.java b/Robot/src/main/java/com/swrobotics/robot/config/NTData.java
index b7ab49b..0f0f4d6 100644
--- a/Robot/src/main/java/com/swrobotics/robot/config/NTData.java
+++ b/Robot/src/main/java/com/swrobotics/robot/config/NTData.java
@@ -92,7 +92,8 @@ public final class NTData {
     public static final NTEntry<Double> SHOOTER_LOB_SHORT_HEIGHT_METERS = new NTDouble("Shooter/Lob/Short Lob Height (m)", 1.3).setPersistent();
     public static final NTEntry<Double> SHOOTER_LOB_DRIVE_ANGLE_CORRECTION_BLUE = new NTDouble("Shooter/Lob/Drive Angle Correction Blue (deg)", -30).setPersistent();
     public static final NTEntry<Double> SHOOTER_LOB_DRIVE_ANGLE_CORRECTION_RED = new NTDouble("Shooter/Lob/Drive Angle Correction Red (deg)", 0).setPersistent();
-    public static final NTEntry<Double> SHOOTER_FLY_TIME = new NTDouble("Shooter/Fly Time (s)", 0.25);
+    public static final NTEntry<Double> SHOOTER_FLY_TIME = new NTDouble("Shooter/Fly Time (s)", 0.25).setPersistent();
+    public static final NTEntry<Double> GREEN_FN_COEFFICIENT = new NTDouble("Shooter/Green FN Coefficient", 1).setPersistent();
 
     private NTData() {
         throw new AssertionError();
diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/ShooterSubsystem.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/ShooterSubsystem.java
index bf5cc11..a83eacd 100644
--- a/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/ShooterSubsystem.java
+++ b/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/ShooterSubsystem.java
@@ -43,7 +43,7 @@ public enum FlywheelControl {
 
     private AimCalculator.Aim targetAim; // Target aim is null if not currently aiming
     private AimCalculator aimCalculator;
-    private final AimCalculator tableAimCalculator;
+    private final TableAimCalculator tableAimCalculator;
 
     private FlywheelControl flywheelControl;
 
@@ -98,9 +98,21 @@ public void periodic() {
                         aim.pivotAngle());
         } else {
             double distToSpeaker = getSpeakerPosition().getDistance(drive.getEstimatedPose().getTranslation());
-            aim = aimCalculator.calculateAim(distToSpeaker);
+            Pose2d robotPose = drive.getEstimatedPose();
+            Translation2d robotPos = robotPose.getTranslation();
+            ChassisSpeeds robotSpeeds = drive.getFieldRelativeSpeeds();
+        
+            Translation2d target = getSpeakerPosition();
+            Rotation2d angleToTarget = target.minus(robotPos).getAngle();
+        
+            // Relative to the target
+            Translation2d robotVelocity = new Translation2d(robotSpeeds.vxMetersPerSecond, robotSpeeds.vyMetersPerSecond).rotateBy(angleToTarget);
+            aim = tableAimCalculator.calculateAim(distToSpeaker, robotVelocity.getX());
 
             if (RobotBase.isSimulation())
+                SimView.lobTrajectory.update(
+                    aim.flywheelVelocity() / NTData.SHOOTER_LOB_POWER_COEFFICIENT.get(),
+                    aim.pivotAngle());
                 SimView.lobTrajectory.clear();
         }
         targetAim = aim;
diff --git a/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/aim/TableAimCalculator.java b/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/aim/TableAimCalculator.java
index fa3dbcf..dca655f 100644
--- a/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/aim/TableAimCalculator.java
+++ b/Robot/src/main/java/com/swrobotics/robot/subsystems/speaker/aim/TableAimCalculator.java
@@ -102,15 +102,20 @@ private double sample(TreeMap<Double, Double> map, double distanceToSpeaker) {
 
     @Override
     public Aim calculateAim(double distanceToSpeaker) {
-       logDistance.set(distanceToSpeaker);
-
-       distanceToSpeaker *= NTData.SHOOTER_DISTANCE_SCALE.get();
+       return calculateAim(distanceToSpeaker, 0.0);
+    }
 
-        return new Aim(
-                sample(flywheelVelocityMap, distanceToSpeaker),
-                sample(pivotAngleMap, distanceToSpeaker),
-                distanceToSpeaker
-        );
+    public Aim calculateAim(double distanceToSpeaker, double velocityTowardsSpeaker) {
+        logDistance.set(distanceToSpeaker);
+        System.out.println(velocityTowardsSpeaker);
+
+        distanceToSpeaker *= NTData.SHOOTER_DISTANCE_SCALE.get();
+ 
+         return new Aim(
+                 sample(flywheelVelocityMap, distanceToSpeaker),
+                 sample(pivotAngleMap, distanceToSpeaker) + Math.toRadians(NTData.GREEN_FN_COEFFICIENT.get()) * velocityTowardsSpeaker,
+                 distanceToSpeaker
+         );
     }
 
     public double getSnapDistance(double currentDist, boolean wantMoveCloser) {