From ce1f5a5741ec80bfb73fdd5467ba911b822dd52e Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Thu, 7 Mar 2024 16:21:56 +0100
Subject: [PATCH] Update autonome_api.java

---
 autonome_api.java | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/autonome_api.java b/autonome_api.java
index 3642b5a..ae902e8 100644
--- a/autonome_api.java
+++ b/autonome_api.java
@@ -52,7 +52,9 @@ public class ftc2024_autonome_api extends LinearOpMode {
     }
     public void rotate(double angle, double motor_speed=1.0){
         double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
-        angle = Math.toDegrees(Math.atan(Math.tan(Math.toRadians(angle))));
+        angle = 200.0;
+        double anglerad = Math.toRadians(angle);
+        angle = Math.toDegrees(Math.atan2(Math.sin(anglerad),Math.cos(anglerad)));
         double left_multiplier = -( (double) Math.signum(angle));
         double right_multiplier = ((double) Math.signum(angle));
         double m_power = motor_speed;