tourner a zero/180 regle

src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java

@@ -25,6 +25,7 @@ public class TournerVersMur extends Command {
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
   Pigeon2 pigeon2; 
   double force;
+  double angle;
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
             .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
             .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -44,9 +45,11 @@ public class TournerVersMur extends Command {
   public void execute() {
     if(alliance.get() == Alliance.Blue){
       force = 0.5;
+      angle = 0;
     }
     else{
       force = -0.5;
+      angle = 180;
     }
     if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
       drivetrain.setControl(drive.withRotationalRate(force));
@@ -63,6 +66,6 @@ public class TournerVersMur extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return pigeon2.getYaw().getValueAsDouble() > 165  && pigeon2.getYaw().getValueAsDouble() < 195;
+    return pigeon2.getYaw().getValueAsDouble() > angle - 5  && pigeon2.getYaw().getValueAsDouble() < angle + 5;
   }
 }