diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java
index 91ea86a..7b158d1 100644
--- a/ftc2024-carlike.java
+++ b/ftc2024-carlike.java
@@ -27,8 +27,6 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
 	private DcMotor rm;
 	private DcMotor lm;
 	private IMU imu;
-	private Orientation lastAngles = new Orientation();
-	private double globalAngle, power = .30, correction;
 	private double helloexp(double t){
 		return (Math.exp(5*t)-1)/(Math.exp(5)-1);
 	}
@@ -135,69 +133,18 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
 			telemetry.addData("ltrigg",t);
 			telemetry.addData("t2",t2);
 			telemetry.addData("mode",mode);
-			// Use gyro to drive in a straight line.
-			correction = checkDirection();
+			// Create an object to receive the IMU angles
+			YawPitchRollAngles robotOrientation;
+			robotOrientation = imu.getRobotYawPitchRollAngles();
+
+			// Now use these simple methods to extract each angle
+			// (Java type double) from the object you just created:
+			double Yaw   = robotOrientation.getYaw(AngleUnit.DEGREES);
+			double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
+			double Roll  = robotOrientation.getRoll(AngleUnit.DEGREES);
+			telemetry.addData("yaw",Yaw);
 
-			telemetry.addData("1 imu heading", lastAngles.firstAngle);
-			telemetry.addData("2 global heading", globalAngle);
-			telemetry.addData("3 correction", correction);
 			telemetry.update();
 		}
 	}
-    private void resetAngle()
-    {
-        lastAngles = imu.getRobotOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
-
-        globalAngle = 0;
-    }
-
-    /**
-     * Get current cumulative angle rotation from last reset.
-     * @return Angle in degrees. + = left, - = right.
-     */
-    private double getAngle()
-    {
-        // We experimentally determined the Z axis is the axis we want to use for heading angle.
-        // We have to process the angle because the imu works in euler angles so the Z axis is
-        // returned as 0 to +180 or 0 to -180 rolling back to -179 or +179 when rotation passes
-        // 180 degrees. We detect this transition and track the total cumulative angle of rotation.
-
-        Orientation angles = imu.getRobotOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
-
-        double deltaAngle = angles.firstAngle - lastAngles.firstAngle;
-
-        if (deltaAngle < -180)
-            deltaAngle += 360;
-        else if (deltaAngle > 180)
-            deltaAngle -= 360;
-
-        globalAngle += deltaAngle;
-
-        lastAngles = angles;
-
-        return globalAngle;
-    }
-
-    /**
-     * See if we are moving in a straight line and if not return a power correction value.
-     * @return Power adjustment, + is adjust left - is adjust right.
-     */
-    private double checkDirection()
-    {
-        // The gain value determines how sensitive the correction is to direction changes.
-        // You will have to experiment with your robot to get small smooth direction changes
-        // to stay on a straight line.
-        double correction, angle, gain = .10;
-
-        angle = getAngle();
-
-        if (angle == 0)
-            correction = 0;             // no adjustment.
-        else
-            correction = -angle;        // reverse sign of angle for correction.
-
-        correction = correction * gain;
-
-        return correction;
-    }
 }