diff --git a/FGC_2024.java b/FGC_2024.java
new file mode 100644
index 0000000..6a930b7
--- /dev/null
+++ b/FGC_2024.java
@@ -0,0 +1,132 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import com.qualcomm.robotcore.robot.Robot;
+
+import java.text.spi.DecimalFormatSymbolsProvider;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.robot.Robot;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
+import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
+import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
+import org.firstinspires.ftc.robotcore.external.navigation.Position;
+import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
+
+@TeleOp(name = "FGC2024", group = "WeRobot")
+public class FGC_2024 extends LinearOpMode {
+
+
+    private DcMotorEx rm;
+    private DcMotorEx lm;
+    private DcMotorEx elv1;
+    //private DcMotorEx elv2;
+    //private DcMotorEx elv3;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+
+        telemetry.addData("Status"," Initialized");
+        telemetry.update();
+
+        lm = hardwareMap.get(DcMotorEx.class, "lm");
+        rm = hardwareMap.get(DcMotorEx.class, "rm");
+        rm.setDirection(DcMotor.Direction.REVERSE);
+        //lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        //rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        elv1 = hardwareMap.get(DcMotorEx.class, "elv1");
+        elv1.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        //elv2 = hardwareMap.get(DcMotorEx.class, "elv2");
+        //elv2.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        //elv3 = hardwareMap.get(DcMotorEx.class, "elv3");
+        //elv3.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+
+
+        boolean already_up = false;
+        boolean already_down = false;
+        int hauteur = 0;
+
+        waitForStart();
+        while(opModeIsActive()){
+            float x = gamepad1.left_stick_x; // abscisse joystick gauche
+            double y = gamepad1.left_stick_y; // ordonnées joystick gauche
+            double lpower = 0.0; //puissance moteur gauche
+            double rpower = 0.0; //puissance moteur droit
+
+            lpower = ((1-x)*Math.signum(y))/1.5;
+            rpower = ((1+x)*Math.signum(y))/1.5;
+
+            if ( Math.abs(x)==1){
+                lpower = 0.75*Math.signum(x);
+                rpower = -lpower;
+            }
+            
+            if(gamepad1.right_trigger == 0){
+                lpower /=3;
+                rpower /=3;
+            }else{
+                lpower = lpower*gamepad1.right_trigger;
+                rpower = rpower*gamepad1.right_trigger;
+            }
+
+            if (gamepad1.dpad_up && !already_up && i<3){
+
+                elv1.setVelocity(250);
+                // elv2.setVelocity(250);
+                // elv3.setVelocity(250);
+                elv1.setTargetPosition(elv1.getCurrentPosition()+10);
+                // elv2.setTargetPosition(elv2.getCurrentPosition()+15);
+                // elv3.setTargetPosition(elv3.getCurrentPosition()+160);
+                elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                // elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                // elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                hauteur += 1;
+                
+                already_up = !already_up;
+
+            }else{
+                already_up = false;
+            }
+
+            if (gamepad1.dpad_down && !already_up && i>0){
+
+                elv1.setVelocity(250);
+                elv2.setVelocity(250);
+                elv3.setVelocity(250);
+                elv1.setTargetPosition(elv1.getCurrentPosition()-10);
+                elv2.setTargetPosition(elv2.getCurrentPosition()-15);
+                elv3.setTargetPosition(elv3.getCurrentPosition()-160);
+                elv1.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                elv2.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                elv3.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                hauteur -= 1;
+                
+                already_down = !already_down;
+
+            }else{
+                already_down = false;
+            }
+            
+            
+            rm.setPower(rpower);
+            lm.setPower(lpower);
+            telemetry.addData("r", rpower);
+            telemetry.addData("l", lpower);
+            telemetry.addData("compteur", hauteur);
+            telemetry.update();
+        }
+	}
+}