diff --git a/FTC2024WeRobotControl.java b/FTC2024WeRobotControl.java
index 88a5c96..95251d8 100644
--- a/FTC2024WeRobotControl.java
+++ b/FTC2024WeRobotControl.java
@@ -39,81 +39,112 @@ public class FTC2024WeRobotControl {
      */
     private final double ground_tiles_width = 61.0e-2; // metres
     /*
-     * construct the FTC2024WeRobotControl class, the WeRobot Robot Controller Class for the FTC2024
-     * @param Parent = the parent class, use the "this" keyword if you are constructing the class directly in 
+     * construct the FTC2024WeRobotControl class, the WeRobot Robot Controller Class
+     * for the FTC2024
+     * 
+     * @param Parent = the parent class, use the "this" keyword if you are
+     * constructing the class directly in
      */
-    public FTC2024WeRobotControl(YawPitchhRollAngle Parent){
-	this.Parent = Parent;
+
+    public FTC2024WeRobotControl(YawPitchhRollAngle Parent) {
+        this.Parent = Parent;
     }
+
     /*
      * return a metre/sec speed
-     * @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
+     * 
+     * @param motor_speed = (optional) double between 0 and 1; motor power; default
+     * to 1
      */
-    public double getSpeedFromMotorSpeed(double motor_speed = 1.0){
-	double speed_tour_par_minutes = this.tour_par_minutes*motor_speed;
-	double speed = (speed_tour_par_minutes/60)*this.wheel_perimeter;
-	return speed;
+    public double getSpeedFromMotorSpeed(double motor_speed) {
+        double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
+        double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
+        return speed;
     }
+
     /*
      * return the needed time for a distance
+     * 
      * @param dist = distance in metre
-     * @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
+     * 
+     * @param motor_speed = (optional) double between 0 and 1; motor power; default
+     * to 1
      */
-    public double time_for_dist(double dist, double motor_speed=1.0){
-	double speed = getSpeedFromMotorSpeed(motor_speed);
-	return (dist/speed);
+    public double time_for_dist(double dist, double motor_speed) {
+        double speed = getSpeedFromMotorSpeed(motor_speed);
+        return (dist / speed);
     }
+
     /*
      * go forward
-     * @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5 etc.)
-     * @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
+     * 
+     * @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5
+     * etc.)
+     * 
+     * @param motor_speed = (optional) double between 0 and 1; motor power; default
+     * to 1
      */
-    public void forward(double n_tiles, double motor_speed = 1.0){
-	double total_time = time_for_dist(n_tiles*ground_tiles_width, motor_speed);
-	double start_time = Parent.runtime.seconds();
-	while( Parent.opModeIsActive() && ((Parent.runtime.seconds()-start_time)<total_time)){
-	    Parent.lm.setPower(motor_speed);
-	    Parent.rm.setPower(motor_speed);
-	}
-	Parent.lm.setPower(0);
-	Parent.rm.setPower(0);
+    public void forward(double n_tiles, double motor_speed) {
+        double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
+        double start_time = Parent.runtime.seconds();
+        while (Parent.opModeIsActive() && ((Parent.runtime.seconds() - start_time) < total_time)) {
+            Parent.lm.setPower(motor_speed);
+            Parent.rm.setPower(motor_speed);
+        }
+        Parent.lm.setPower(0);
+        Parent.rm.setPower(0);
     }
+
     /*
      * go backward
-     * @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5 etc.)
-     * @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
+     * 
+     * @param n_tiles = the number of tiles (a double because it can be 0.5 or 1.5
+     * etc.)
+     * 
+     * @param motor_speed = (optional) double between 0 and 1; motor power; default
+     * to 1
      */
-    public void backward(double n_tiles, double motor_speed= 1.0){
-	forward(n_tiles, -motor_speed);
+    public void backward(double n_tiles, double motor_speed) {
+        forward(n_tiles, -motor_speed);
     }
+
     /*
      * harvest
-     * @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
+     * 
+     * @param motor_speed = (optional) double between 0 and 1; motor power; default
+     * to 1
      */
-    public void harvest(double motor_speed=0.0){
-	Parent.harvestmotor.setPower(motor_speed);
+    public void harvest(double motor_speed) {
+        Parent.harvestmotor.setPower(motor_speed);
     }
+
     /*
      * harvest
+     * 
      * @param angle = the angle to rotate (in degrees)
-     * @param motor_speed = (optional) double between 0 and 1; motor power; default to 1
+     * 
+     * @param motor_speed = (optional) double between 0 and 1; motor power; default
+     * to 1
      */
-    public void rotate(double angle, double motor_speed=1.0){
+    public void rotate(double angle, double motor_speed){
         Parent.robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
-	double start_yaw = Parent.robotOrientation.getYaw(AngleUnit.DEGREES);
-	angle = 200.0;
-	double anglerad = Math.toRadians(angle);
-	angle = Math.toDegrees(Math.atan2(Math.sin(anglerad),Math.cos(anglerad)));
-	double left_multiplier = -( (double) Math.signum(angle));
-	double right_multiplier = ((double) Math.signum(angle));
-	double m_power = motor_speed;
-	while(Parent.opModeIsActive() && (Math.abs(Parent.robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle)){
-	    Parent.robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
-	    m_power = (Math.abs(Parent.robotOrientation.getYaw(AngleUnit.DEGREES)-start_yaw));//relative 
-	    Parent.lm.setPower(left_multiplier*m_power);
-	    Parent.rm.setPower(right_multiplier*m_power);
-	}
-	Parent.lm.setPower(0);
-	Parent.rm.setPower(0);
+        double start_yaw = Parent.robotOrientation.getYaw(AngleUnit.DEGREES);
+        angle = 200.0;
+        double anglerad = Math.toRadians(angle);
+        angle = Math.toDegrees(Math.atan2(Math.sin(anglerad),Math.cos(anglerad)));
+        double left_multiplier = -((double) Math.signum(angle));
+        double right_multiplier = ((double) Math.signum(angle));
+        double m_power = motor_speed;
+        while(Parent.opModeIsActive() && (Math.abs(Parent.robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))){
+            Parent.robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
+            m_power = (Math.abs(Parent.robotOrientation.getYaw(AngleUnit.DEGREES)-start_yaw));//relative 
+            Parent.lm.setPower(left_multiplier*m_power);
+            Parent.rm.setPower(right_multiplier*m_power);
+        }
+        Parent.lm.setPower(0);
+        Parent.rm.setPower(0);
+    }
+    public void test_forward_10_and_rotate_20deg(){
+
     }
 }
diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java
index 207eb84..404dab9 100644
--- a/ftc2024_autonome_api.java
+++ b/ftc2024_autonome_api.java
@@ -80,7 +80,8 @@ public class ftc2024_autonome_api extends LinearOpMode {
 		    robot.harvest(0);
 		    break;
 		case ("r4d"):
-
+			
+			
 		    break;
 		case ("r2d"):