diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java
index faa7561..da0e464 100644
--- a/ftc2024-autonome.java
+++ b/ftc2024-autonome.java
@@ -17,82 +17,82 @@ import com.qualcomm.robotcore.util.ElapsedTime;
 @Autonomous
 
 public class ftc2024_autonome extends LinearOpMode {
-	private DcMotor rm;
-	private DcMotor lm;
-	private ElapsedTime     runtime = new ElapsedTime();
-	
+    private DcMotor rm;
+    private DcMotor lm;
+    private ElapsedTime     runtime = new ElapsedTime();
+    
 
-	public double time_for_dist(double speed, double dist){
-		return (double) (dist/speed);
-	}
+    public double time_for_dist(double speed, double dist){
+        return (double) (dist/speed);
+    }
 
-	@Override
-	public void runOpMode() {
-		lm = hardwareMap.get(DcMotor.class, "blm");
-		rm = hardwareMap.get(DcMotor.class, "brm");
-		rm.setDirection(DcMotorSimple.Direction.REVERSE);
-		telemetry.addData("Status", "Initialized");
-		telemetry.update();
-		double tour_par_minute = 300.0;
-		double wheel_width = 9.0e-2;
-		double wheel_rayon = (wheel_width)/2;
-		double wheel_perimeter = wheel_rayon*2*Math.PI;
-		double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
-		boolean mode = false;
-		// Wait for the game to start (driver presses PLAY)
-		waitForStart();
+    @Override
+    public void runOpMode() {
+        lm = hardwareMap.get(DcMotor.class, "blm");
+        rm = hardwareMap.get(DcMotor.class, "brm");
+        rm.setDirection(DcMotorSimple.Direction.REVERSE);
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+        double tour_par_minute = 300.0;
+        double wheel_width = 9.0e-2;
+        double wheel_rayon = (wheel_width)/2;
+        double wheel_perimeter = wheel_rayon*2*Math.PI;
+        double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
+        boolean mode = false;
+        // Wait for the game to start (driver presses PLAY)
+        waitForStart();
 
-		runtime.reset();
-		if (mode){
-			//mode Elina
-			while (opModeIsActive() && (runtime.seconds() <= 41e-2*Math.PI/4/speed)) {
-				lm.setPower(1);
-				rm.setPower(-1);
-				telemetry.addData("Leg 1", runtime.seconds());
-				telemetry.update();
-			}
-			runtime.reset();
-			while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
-				lm.setPower(1);
-				rm.setPower(1);
-				telemetry.addData("Leg 2", runtime.seconds());
-				telemetry.update();
-			}
-		}
-		else {
-			double[][] operations = {
-				{-1.0,1.0}, // vectors
-				{1.0,1.0},
-				{-1.0,1.0},
-				{-1.0,-1.0},
-				{1.0,-1.0}
-			};
-			//mode Aurelien
-			for(int i = 0; i<operations.length; i++){
-				double[] vec = operations[i];
-				double x = vec[0];
-				double y = vec[1];
-				double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
-				double time = time_for_dist(speed, time);
-				double a = (-y+x)/Math.pow(2,1/2);
-				double b = (-y-x)/Math.pow(2,1/2);
-				double vmean = (Math.abs(a)+Math.abs(b))/2;
-				double lmvalue = (a/vmean);
-				double rmvalue = (b/vmean);
-				runtime.reset();
-				while (opModeIsActive() && (runtime.seconds() <= time)) {
-					lm.setPower(lmvalue);
-					rm.setPower(rmvalue);
-					telemetry.addData("Runtime Seconds", runtime.seconds());
-					telemetry.addData("current_operation",operations[i]);
-					telemetry.addData("current_op_id",i);
-					telemetry.update();
-				}
-			}
-		}
-		// run until the end of the match (driver presses STOP
+        runtime.reset();
+        if (mode){
+            //mode Elina
+            while (opModeIsActive() && (runtime.seconds() <= 41e-2*Math.PI/4/speed)) {
+                lm.setPower(1);
+                rm.setPower(-1);
+                telemetry.addData("Leg 1", runtime.seconds());
+                telemetry.update();
+            }
+            runtime.reset();
+            while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
+                lm.setPower(1);
+                rm.setPower(1);
+                telemetry.addData("Leg 2", runtime.seconds());
+                telemetry.update();
+            }
+        }
+        else {
+            double[][] operations = {
+                {-1.0,1.0}, // vectors
+                {1.0,1.0},
+                {-1.0,1.0},
+                {-1.0,-1.0},
+                {1.0,-1.0}
+            };
+            //mode Aurelien
+            for(int i = 0; i<operations.length; i++){
+                double[] vec = operations[i];
+                double x = vec[0];
+                double y = vec[1];
+                double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
+                double time = time_for_dist(speed, total_dist);
+                double a = (-y+x)/Math.pow(2,1/2);
+                double b = (-y-x)/Math.pow(2,1/2);
+                double vmean = (Math.abs(a)+Math.abs(b))/2;
+                double lmvalue = (a/vmean);
+                double rmvalue = (b/vmean);
+                runtime.reset();
+                while (opModeIsActive() && (runtime.seconds() <= time)) {
+                    lm.setPower(lmvalue);
+                    rm.setPower(rmvalue);
+                    telemetry.addData("Runtime Seconds", runtime.seconds());
+                    telemetry.addData("current_operation",operations[i]);
+                    telemetry.addData("current_op_id",i);
+                    telemetry.update();
+                }
+            }
+        }
+        // run until the end of the match (driver presses STOP
 
-	}
+    }
 
 }
 
diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java
index 2aa3030..d09232e 100644
--- a/ftc2024-carlike.java
+++ b/ftc2024-carlike.java
@@ -1,6 +1,7 @@
 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 org.firstinspires.ftc.robotcore.external.Telemetry;
 import com.qualcomm.robotcore.hardware.Gamepad;
@@ -24,155 +25,155 @@ import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
 //test
 @TeleOp(name="WeRobot: FTC2024 Carlike", group="WeRobot")
 public class Werobot_FTC2024_carlike extends LinearOpMode {
-	private DcMotor rm;
-	private DcMotor lm;
-	private DcMotor moissoneuse;
-	private IMU imu;
-	private double helloexp(double t){
-		return (Math.exp(5*t)-1)/(Math.exp(5)-1);
-	}
-	@Override
-	public void runOpMode() throws InterruptedException {
-		float x;
-		double y;
-		double t;
-		double t2;
-		double t3;
-		String mode = "normal";
-		boolean already_b = false;
-		boolean already_a = false;
-		telemetry.addData("Status", "Initialized");
-		telemetry.update();
-		lm = hardwareMap.get(DcMotor.class, "blm");
-		rm = hardwareMap.get(DcMotor.class, "brm");
-		moissoneuse = hardwareMap.get(DCMotor.class, "flm");
+    private DcMotor rm;
+    private DcMotor lm;
+    private DcMotor moissoneuse;
+    private IMU imu;
+    private double helloexp(double t){
+        return (Math.exp(5*t)-1)/(Math.exp(5)-1);
+    }
+    @Override
+    public void runOpMode() throws InterruptedException {
+        float x;
+        double y;
+        double t;
+        double t2;
+        double t3;
+        String mode = "normal";
+        boolean already_b = false;
+        boolean already_a = false;
+        telemetry.addData("Status", "Initialized");
+        telemetry.update();
+        lm = hardwareMap.get(DcMotor.class, "blm");
+        rm = hardwareMap.get(DcMotor.class, "brm");
+        moissoneuse = hardwareMap.get(DcMotor.class, "flm");
 
 
-		imu = hardwareMap.get(IMU.class, "imu");
-		imu.initialize(
-			new IMU.Parameters(
-				new RevHubOrientationOnRobot(
-					RevHubOrientationOnRobot.LogoFacingDirection.UP,
-					RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
-				)
-			)
-	        );
-		imu.resetYaw();
-		rm.setDirection(DcMotorSimple.Direction.REVERSE);
-		//telemetry.addData("Mode", "calibrating...");
-		//telemetry.update();
+        imu = hardwareMap.get(IMU.class, "imu");
+        imu.initialize(
+            new IMU.Parameters(
+                new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.UP,
+                    RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
+                )
+            )
+            );
+        imu.resetYaw();
+        rm.setDirection(DcMotorSimple.Direction.REVERSE);
+        //telemetry.addData("Mode", "calibrating...");
+        //telemetry.update();
 
-		// make sure the imu gyro is calibrated before continuing.
-		//while (!isStopRequested() && !imu.isGyroCalibrated())
-		//{
-		//	sleep(50);
-		//	idle();
-		//}
+        // make sure the imu gyro is calibrated before continuing.
+        //while (!isStopRequested() && !imu.isGyroCalibrated())
+        //{
+        //    sleep(50);
+        //    idle();
+        //}
 
-		telemetry.addData("Mode", "waiting for start");
-		//telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
-		telemetry.update();
-		waitForStart();
+        telemetry.addData("Mode", "waiting for start");
+        //telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
+        telemetry.update();
+        waitForStart();
 
-		//test
-		while (opModeIsActive()) {
-			x = gamepad1.left_stick_x;
-			y = gamepad1.left_stick_y;
-			t= gamepad1.right_trigger;
-			t2 = helloexp(t);
-			t3 = helloexp(Math.sqrt(Math.pow(x,2)+Math.pow(y,2)));
-			telemetry.addData("Status", "Running");
-			if(gamepad1.a && !already_a){
-				if(mode=="normal"){
-					mode="tank";
-				}else if(mode=="tank"){
-					mode = "essaifranck";
-				}else if (mode == "essaifranck"){
-					mode = "elina";
-				}else{
-					mode="normal";
-				}
-				already_a = true;
-			}
-			if(!gamepad1.a && already_a){
-				already_a = false;
-			}
-			double lpower = 0.0;
-			double rpower = 0.0;
-			if(mode=="normal"){
-				double ysign = y>0?1.0:(y<0?-1.0:0.0);
-				double xsign = x>0?1.0:(x<0?-1.0:0.0);
-				lpower = -ysign * t + (xsign-2*x)*t;
-				rpower = ysign * t + (xsign-2*x)*t;
-			}
-			else if (mode=="tank"){
-				lpower = -y;
-				rpower = gamepad1.right_stick_y;
-			}
-			else if (mode=="essaifranck"){
-				double a = (-y+x)/Math.pow(2,1/2);
-				double b = (-y-x)/Math.pow(2,1/2);
-				double vmean = (Math.abs(a)+Math.abs(b))/2;
-				lpower = (a/vmean)*t2;
-				rpower = (b/vmean)*t2;
-			}
-			else if (mode=="elina"){
-				double a = (-y+x)/Math.pow(2,1/2);
-				double b = (-y-x)/Math.pow(2,1/2);
-				double vmean = (Math.abs(a)+Math.abs(b))/2;
-				lpower = (a/vmean)*t3;
-				rpower = (b/vmean)*t3;
-			}
-			if(!(gamepad1.left_bumper)){
-				lpower/=3;
-				rpower/=3;
-			}
-			lm.setPower(lpower);
-			rm.setPower(rpower);
+        //test
+        while (opModeIsActive()) {
+            x = gamepad1.left_stick_x;
+            y = gamepad1.left_stick_y;
+            t= gamepad1.right_trigger;
+            t2 = helloexp(t);
+            t3 = helloexp(Math.sqrt(Math.pow(x,2)+Math.pow(y,2)));
+            telemetry.addData("Status", "Running");
+            if(gamepad1.a && !already_a){
+                if(mode=="normal"){
+                    mode="tank";
+                }else if(mode=="tank"){
+                    mode = "essaifranck";
+                }else if (mode == "essaifranck"){
+                    mode = "elina";
+                }else{
+                    mode="normal";
+                }
+                already_a = true;
+            }
+            if(!gamepad1.a && already_a){
+                already_a = false;
+            }
+            double lpower = 0.0;
+            double rpower = 0.0;
+            if(mode=="normal"){
+                double ysign = y>0?1.0:(y<0?-1.0:0.0);
+                double xsign = x>0?1.0:(x<0?-1.0:0.0);
+                lpower = -ysign * t + (xsign-2*x)*t;
+                rpower = ysign * t + (xsign-2*x)*t;
+            }
+            else if (mode=="tank"){
+                lpower = -y;
+                rpower = gamepad1.right_stick_y;
+            }
+            else if (mode=="essaifranck"){
+                double a = (-y+x)/Math.pow(2,1/2);
+                double b = (-y-x)/Math.pow(2,1/2);
+                double vmean = (Math.abs(a)+Math.abs(b))/2;
+                lpower = (a/vmean)*t2;
+                rpower = (b/vmean)*t2;
+            }
+            else if (mode=="elina"){
+                double a = (-y+x)/Math.pow(2,1/2);
+                double b = (-y-x)/Math.pow(2,1/2);
+                double vmean = (Math.abs(a)+Math.abs(b))/2;
+                lpower = (a/vmean)*t3;
+                rpower = (b/vmean)*t3;
+            }
+            if(!(gamepad1.left_bumper)){
+                lpower/=3;
+                rpower/=3;
+            }
+            lm.setPower(lpower);
+            rm.setPower(rpower);
 
-			if(gamepad1.b && !already_b){
-				already_b = !already_b;
-				if(moissoneuse.getPowerFloat == (float) 1){
-					moissoneuse.setPower(0);
-				}else{
-					moissoneuse.setPower(1);
-				}
-			}
-			if(!gamepad1.b && already_b){
-				already_b = !already_b;
-			}
-			if(gamepad1.a && !already_a){
-				already_a = !already_a;
-				if(moissoneuse.getPowerFloat == (float) -1){
-					moissoneuse.setPower(0);
-				}else{
-					moissoneuse.setPower(-1);
-				}
-			if(!gamepad1.a && already_a){
-				already_a = !already_a; 
-			}
-			}
+            if(gamepad1.b && !already_b){
+                already_b = !already_b;
+                if(moissoneuse.getPower() == 1.0){
+                    moissoneuse.setPower(0);
+                }else{
+                    moissoneuse.setPower(1);
+                }
+            }
+            if(!gamepad1.b && already_b){
+                already_b = !already_b;
+            }
+            if(gamepad1.a && !already_a){
+                already_a = !already_a;
+                if(moissoneuse.getPower() == -1.0){
+                    moissoneuse.setPower(0);
+                }else{
+                    moissoneuse.setPower(-1);
+                }
+            if(!gamepad1.a && already_a){
+                already_a = !already_a; 
+            }
+            }
 
 
-			telemetry.addData("x",x);
-			telemetry.addData("y",y);
-			telemetry.addData("lpow",lpower);
-			telemetry.addData("rpow",rpower);
-			telemetry.addData("ltrigg",t);
-			telemetry.addData("t2",t2);
-			telemetry.addData("mode",mode);
-			// Create an object to receive the IMU angles
-			YawPitchRollAngles robotOrientation;
-			robotOrientation = imu.getRobotYawPitchRollAngles();
+            telemetry.addData("x",x);
+            telemetry.addData("y",y);
+            telemetry.addData("lpow",lpower);
+            telemetry.addData("rpow",rpower);
+            telemetry.addData("ltrigg",t);
+            telemetry.addData("t2",t2);
+            telemetry.addData("mode",mode);
+            // Create an object to receive the IMU angles
+            YawPitchRollAngles robotOrientation;
+            robotOrientation = imu.getRobotYawPitchRollAngles();
 
-			// Now use these simple methods to extract each angle
-			// (Java type double) from the object you just created:
-			double Yaw   = robotOrientation.getYaw(AngleUnit.DEGREES);
-			double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
-			double Roll  = robotOrientation.getRoll(AngleUnit.DEGREES);
-			telemetry.addData("yaw",Yaw);
+            // Now use these simple methods to extract each angle
+            // (Java type double) from the object you just created:
+            double Yaw   = robotOrientation.getYaw(AngleUnit.DEGREES);
+            double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
+            double Roll  = robotOrientation.getRoll(AngleUnit.DEGREES);
+            telemetry.addData("yaw",Yaw);
 
-			telemetry.update();
-		}
-	}
+            telemetry.update();
+        }
+    }
 }