From 101512a7dd8155ff2a96d78a751c8399982f9f40 Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Sun, 11 Feb 2024 16:34:07 +0100
Subject: [PATCH] hello

---
 ftc2024-autonome.java | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java
index 6c28306..b666e07 100644
--- a/ftc2024-autonome.java
+++ b/ftc2024-autonome.java
@@ -92,7 +92,22 @@ public class ftc2024_autonome extends LinearOpMode {
                 telemetry.update();
             }
         }
-        else {
+        else{
+	    while(opModeIsActive()){
+		Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+		if(Math.abs(Yaw-90.0)<=0.01){
+		    break;
+		}
+		else if((Yaw - 90.0) <0){
+		    lm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
+		    rm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
+		}
+		else{
+		    rm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
+		    lm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
+		}
+
+	if(false){
             double[][] operations = {
                 {-1.0,1.0}, // vectors
                 {1.0,1.0},