diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index dbedcf8..f198faa 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -184,6 +184,9 @@ public enum RobotEdition {
   @AutoLogOutput boolean haveAutosGenerated = false;
   private final LoggedDashboardChooser<Command> autoChooser = new LoggedDashboardChooser<>("Autos");
 
+  @AutoLogOutput(key = "Shooter/Hood/Has Zeroed")
+  private boolean hoodZeroed = false;
+
   // temporarily override map with empty map to avoid collisions with reefscape elements
   // unfortunately this also turns off collisions with walls but that's fine
   // TODO update once rebuilt is added to maplesim
@@ -528,7 +531,19 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta
     // TODO add binding for climb
 
     // current zero shooter hood
-    driver.b().whileTrue(shooter.runCurrentZeroing());
+    new Trigger(() -> !hoodZeroed)
+        .or(driver.b())
+        .whileTrue(
+            shooter
+                .runCurrentZeroing()
+                .finallyDo(
+                    interrupted -> {
+                      if (!interrupted) {
+                        hoodZeroed = true;
+                      } else {
+                        hoodZeroed = false;
+                      }
+                    }));
 
     new Trigger(() -> intake.beambreak()).onTrue(driver.rumbleCmd(1, 1).withTimeout(0.5));