diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java
index fcbc0de..5f07943 100644
--- a/ftc2024-carlike.java
+++ b/ftc2024-carlike.java
@@ -67,9 +67,9 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
                                 rpower = gamepad1.right_stick_y;
                         }
 			else if (mode=="essaifranck"){
-				double a = (x+y)/Math.pow(2,1/2);
-				double b = (x-y)/Math.pow(2,1/2);
-                                double vmean = (a+b)/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;
 			}