From 69fe4a58d0e732a661a0608da4c20fa3fd6de09b Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 25 Mar 2026 18:26:48 -0400
Subject: [PATCH] e

---
 .../frc/robot/commands/ModeAuto/RetourMilieuDroite.java  | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java b/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
index 9e00296..1294f7d 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
@@ -50,12 +50,18 @@ public class RetourMilieuDroite extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    double[] BotPose = new double[6];
+    BotPose = limelight3g.getBotPoseBlue();
+    botx = BotPose[0];
+    boty = BotPose[1];
+    
     if(alliance.get() == Alliance.Blue){
       angle = 0;
     }
     else{
       angle = 180;
     }
+    if(pigeon2.getYaw().getValueAsDouble() <355 || pigeon2.getYaw().getValueAsDouble() > 5){
     if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
       drivetrain.setControl(drive.withRotationalRate(0.5));
     }
@@ -63,6 +69,9 @@ public class RetourMilieuDroite extends Command {
       drivetrain.setControl(drive.withRotationalRate(-0.5));
     }
   }
+  else{
+  }
+  }
 
   // Called once the command ends or is interrupted.
   @Override