diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 156cc09..b39f27b 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -5,6 +5,7 @@
 package frc.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.kauailabs.navx.frc.AHRS;
 
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -23,8 +24,12 @@ private WPI_TalonSRX arriereDroit = new WPI_TalonSRX(Constants.MoteurArriereDroi
 
 private MecanumDrive mecanum = new MecanumDrive(avantGauche, arriereGauche, avantDroit, arriereDroit);
 
-private void drive(double y, double x, double rot){
-  mecanum.driveCartesian(y, x, rot, 0);
+private AHRS gyroscope = new AHRS();
+public double getangle() {
+  return gyroscope.getAngle();
+}
+public void drive(double y, double x, double rot){
+  mecanum.driveCartesian(y, x, rot, getangle());
 }
   /** Creates a new BasePilotable. */
   public BasePilotable() {
@@ -36,4 +41,5 @@ private void drive(double y, double x, double rot){
   public void periodic() {
     // This method will be called once per scheduler run
   }
+  
 }