diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 510dc0c8..04d4d478 100644
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -48,4 +48,7 @@ public static Pose2d getPose(TargetPose targetPose) {
     public static final Rectangle2d RED_NO_PASSING_ZONE = new Rectangle2d(new Translation2d(16.541, 4.473), new Translation2d(12.677, 3.486)); // temp, values found with sim
 
     public static final double FIELD_MIDDLE_Y = 4.034663;
+
+    public static final double FIELD_LENGTH = 16.540988; // meters (X extent)
+    public static final double FIELD_WIDTH = 8.069326;   // meters (Y extent)
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Cannon.java b/src/main/java/frc/robot/subsystems/Cannon.java
index 4b76dbff..65180456 100644
--- a/src/main/java/frc/robot/subsystems/Cannon.java
+++ b/src/main/java/frc/robot/subsystems/Cannon.java
@@ -413,7 +413,7 @@ public AngularVelocity getHubAngularVelocity(Pose2d pose) {
 
         double robotTargetAngle = getTargetAngle(pose).in(Radians);
         
-        Translation2d fieldRelativeVelocity = new Translation2d(drivetrain.getCurrentRobotChassisSpeeds().vxMetersPerSecond, drivetrain.getCurrentRobotChassisSpeeds().vyMetersPerSecond).rotateBy(drivetrain.getPose().getRotation());
+        Translation2d fieldRelativeVelocity = new Translation2d(drivetrain.getWallCorrectedChassisSpeeds().vxMetersPerSecond, drivetrain.getWallCorrectedChassisSpeeds().vyMetersPerSecond).rotateBy(drivetrain.getPose().getRotation());
 
         double hubRotation = (-fieldRelativeVelocity.getX() * Math.sin(robotTargetAngle) + fieldRelativeVelocity.getY() * Math.cos(robotTargetAngle)) / getTargetDistance().in(Meters);
         return RadiansPerSecond.of(hubRotation);
diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
index 03d4b3d6..b74a497b 100644
--- a/src/main/java/frc/robot/subsystems/Swerve.java
+++ b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -430,8 +430,39 @@ public ChassisSpeeds getCurrentRobotChassisSpeeds(){
         return getState().Speeds;
     }
 
-    public Pose2d getFuturePoseFromTime(Time time) {
+    // When the robot is pressed against a field wall, wheels spin but the robot
+    // doesn't actually move into the wall. This zeros the velocity component
+    // pointing off-field so the OTF solver doesn't lead shots based on phantom motion.
+    private static final double WALL_MARGIN = 0.20; // meters (~8 in, bumper width + tolerance)
+
+    public ChassisSpeeds getWallCorrectedChassisSpeeds() {
         ChassisSpeeds speeds = getCurrentRobotChassisSpeeds();
+        Pose2d pose = getPose();
+
+        double sin = pose.getRotation().getSin();
+        double cos = pose.getRotation().getCos();
+
+        // Robot-relative to field-relative
+        double fieldVx = speeds.vxMetersPerSecond * cos - speeds.vyMetersPerSecond * sin;
+        double fieldVy = speeds.vxMetersPerSecond * sin + speeds.vyMetersPerSecond * cos;
+
+        Translation2d pos = pose.getTranslation();
+
+        // Clamp velocity component pointing out of the field near each wall
+        if (pos.getX() < WALL_MARGIN && fieldVx < 0)                          fieldVx = 0;
+        if (pos.getX() > FieldConstants.FIELD_LENGTH - WALL_MARGIN && fieldVx > 0) fieldVx = 0;
+        if (pos.getY() < WALL_MARGIN && fieldVy < 0)                          fieldVy = 0;
+        if (pos.getY() > FieldConstants.FIELD_WIDTH - WALL_MARGIN && fieldVy > 0)  fieldVy = 0;
+
+        // Field-relative back to robot-relative
+        double rrVx =  fieldVx * cos + fieldVy * sin;
+        double rrVy = -fieldVx * sin + fieldVy * cos;
+
+        return new ChassisSpeeds(rrVx, rrVy, speeds.omegaRadiansPerSecond);
+    }
+
+    public Pose2d getFuturePoseFromTime(Time time) {
+        ChassisSpeeds speeds = getWallCorrectedChassisSpeeds();
         double dt = time.in(Seconds);
 
         double driveMultiplier = LightningShuffleboard.getDouble("Cannon", "OTF Multiplier", 1);