diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c860a95..535ef1d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -251,8 +251,8 @@ public void setUpDriveController() {
 			new Trigger(() -> driverXboxRaw.getPOV() == 270)
 					.onTrue(new AutoRotateTo(drivetrain, Rotation2d.fromDegrees(270), true));
 
-			driverXboxController.leftBumper().onTrue(new AutoRotateTo(drivetrain, Rotation2d.fromDegrees(300)));
-			driverXboxController.rightBumper().onTrue(new AutoRotateTo(drivetrain, Rotation2d.fromDegrees(60)));
+			driverXboxController.leftBumper().whileTrue(new AimAtAngle(drivetrain, inputs, Rotation2d.fromDegrees(300)));
+			driverXboxController.rightBumper().whileTrue(new AimAtAngle(drivetrain, inputs, Rotation2d.fromDegrees(60)));
 
 			driverXboxController.b().onTrue(cancelCommand);
 		}