diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py
index 12f75a345823d3861ae2b35a27b7eea3e65f5914..16b1f4aa1c1649021e14b8b5a8d0b1ef1e9ef754 100644
--- a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py	
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/MCL.py	
@@ -91,7 +91,7 @@ def boite2coord(x1,y1,x2,y2):
     d = F*h_reel/abs(y1-y2) - 0.3982
     
     ypmax=960/2
-    ymax=0.54
+    ymax=0.6
     #y_r = -((x1+x2)/2 - ypmax)*d/F
     tan_theta=((x1+x2)/2-ypmax)/ypmax*ymax
     theta = -atan(tan_theta)
@@ -132,16 +132,16 @@ def distance_Chamfer(A_x, A_y, B_x, B_y):
     return res
 
 
-def orientation_voiture(x,y):
-    x1,y1 = x-centre_x, y-centre_y
-    if x<0:
-        x2,y2 = x1+diametre/2, y1
-        theta = atan(y2/x2)
-        return theta-3.1415/2
-    else:
-        x2,y2 = x1-diametre/2, y1
-        theta = atan(y2/x2)
-        return theta-3.1415/2
+# def orientation_voiture(x,y):
+#     x1,y1 = x-centre_x, y-centre_y
+#     if x<0:
+#         x2,y2 = x1+diametre/2, y1
+#         theta = atan(y2/x2)
+#         return theta-3.1415/2
+#     else:
+#         x2,y2 = x1-diametre/2, y1
+#         theta = atan(y2/x2)
+#         return theta-3.1415/2
     
     
 def motion_update(commande, position):
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/__pycache__/MCL.cpython-38.pyc b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/__pycache__/MCL.cpython-38.pyc
index 8df7d90e5579c5facca756fc5fb2e525d03bdd7f..a67d2f76d8ea432cd871518cde5ab2c70f8b5dd6 100644
Binary files a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/__pycache__/MCL.cpython-38.pyc and b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/__pycache__/MCL.cpython-38.pyc differ
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/__pycache__/utils.cpython-38.pyc b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/__pycache__/utils.cpython-38.pyc
index d36844ef8ea5ff973a27766162ffb0d54657594a..041154099828f9eed31c4a67d0d0b060d8297cce 100644
Binary files a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/__pycache__/utils.cpython-38.pyc and b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/__pycache__/utils.cpython-38.pyc differ