diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5924a25..3b8b887 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-
+import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -34,6 +34,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux;
 
 
 public class RobotContainer {
+   CameraServer.startAutomaticCapture();
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index a20e5aa..e8742ba 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -28,13 +28,13 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()<10) 
+  if(basePilotable.getpitch()>4) 
    { 
-    basePilotable.drive(0.4, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
-   else if(basePilotable.getpitch()>-10) 
+   else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(-0.4, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else
    {