diff --git a/src/main/java/frc/robot/subsystems/shooter/ShootToTargetCmd.java b/src/main/java/frc/robot/subsystems/shooter/ShootToTargetCmd.java
index 2b97283..f869bef 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShootToTargetCmd.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShootToTargetCmd.java
@@ -1,5 +1,7 @@
 package frc.robot.subsystems.shooter;
 
+import static edu.wpi.first.units.Units.Degrees;
+
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -28,6 +30,12 @@ private enum FeedState {
   private final HoodSubsystem m_hood;
   private final FlywheelSubsystem m_flywheel;
 
+  private final double turretCloseToEdgeDegrees = 2;
+  private final double turretYRobotHighSpeedCap = 1;
+
+  private Supplier<Pose2d> estimatedRobotPoseSupplier;
+  private Supplier<ChassisSpeeds> robotSpeedsSupplier;
+  private Supplier<ChassisSpeeds> fieldSpeedsSupplier;
   private Supplier<Pose2d> m_robotPoseSupplier = Pose2d::new;
   private Supplier<ChassisSpeeds> m_robotRelativeSpeedsSupplier = ChassisSpeeds::new;
   private Supplier<ChassisSpeeds> m_fieldRelativeSpeedsSupplier = ChassisSpeeds::new;
@@ -117,6 +125,27 @@ private void updateShooter() {
                 target);
 
     m_turret.runAngleDirect(params.turretAngle());
+
+    boolean shouldTurretTurn = false;
+    double deg = params.turretAngle().in(Degrees);
+
+    if (Math.abs(robotSpeedsSupplier.get().vxMetersPerSecond) < turretYRobotHighSpeedCap) {
+      if ((deg < turretCloseToEdgeDegrees
+              && robotSpeedsSupplier.get().vyMetersPerSecond
+                  < 0) // at left side of hub and moving to the right
+          || (360 - deg < turretCloseToEdgeDegrees
+              && robotSpeedsSupplier.get().vyMetersPerSecond
+                  > 0)) { // at right side of hub and moving to the left
+        shouldTurretTurn = false;
+      }
+    } else {
+      shouldTurretTurn = true;
+    }
+
+    if (shouldTurretTurn) {
+      m_turret.runAngleDirect(params.turretAngle());
+    }
+
     m_flywheel.runVelocityDirect(params.flywheelAngularVelocity());
     m_hood.runAngleDirect(params.hoodAngle());
   }
diff --git a/vendordeps/Phoenix6-replay-frc2026-latest.json b/vendordeps/Phoenix6-replay-frc2026-latest.json
index 9a3d886..eb07c55 100644
--- a/vendordeps/Phoenix6-replay-frc2026-latest.json
+++ b/vendordeps/Phoenix6-replay-frc2026-latest.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix6-replay-frc2026-latest.json",
     "name": "CTRE-Phoenix (v6) Replay",
-    "version": "26.2.0",
+    "version": "26.3.0",
     "frcYear": "2026",
     "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.2.0"
+            "version": "26.3.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -48,7 +48,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "api-cpp-replay",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -62,7 +62,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "tools-replay",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -76,7 +76,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -90,7 +90,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -104,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -118,7 +118,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -132,7 +132,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -146,7 +146,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -160,7 +160,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -174,7 +174,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -188,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -202,7 +202,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -216,7 +216,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -230,7 +230,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -246,7 +246,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -259,7 +259,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "wpiapi-cpp-replay",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_Phoenix6_WPIReplay",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.replay",
             "artifactId": "tools-replay",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_PhoenixTools_Replay",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -448,7 +448,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -464,7 +464,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -480,7 +480,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.2.0",
+            "version": "26.3.0",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,