From 636397f934d3c486c3d51268b39cf49fa05bd70e Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Sat, 6 Jan 2024 16:59:28 +0100
Subject: [PATCH] hleahfoiahf

---
 ftc2024-carlike.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java
index 576474d..1ba9105 100644
--- a/ftc2024-carlike.java
+++ b/ftc2024-carlike.java
@@ -67,8 +67,8 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
                                 rpower = gamepad1.right_stick_y;
                         }
 			else if (mode=="essaifranck"){
-				double a = (y+x)/Math.pow(2,1/2);
-				double b = (y-x)/Math.pow(2,1/2);
+				double a = (-y+x)/Math.pow(2,1/2);
+				double b = (-y-x)/Math.pow(2,1/2);
                                 double vmean = (Math.abs(a)+Math.abs(b))/2;
                                 lpower = (a/vmean)*t2;
                                 rpower = (b/vmean)*t2;