diff --git a/FTC2024WeRobotControl.java b/FTC2024WeRobotControl.java
index bb75dfe..48b3c9c 100644
--- a/FTC2024WeRobotControl.java
+++ b/FTC2024WeRobotControl.java
@@ -1,4 +1,4 @@
-package fr.werobot.ftc2024.robotcontrol;//a tester car pas sur que ça fonctionne
+package org.firstinspires.ftc.teamcode;//a tester car pas sur que ça fonctionne
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
@@ -21,7 +21,7 @@ public class FTC2024WeRobotControl {
     /*
      * The Parent class {@see FTC2024WeRobotControl constructor}
      */
-    private LinearOpMode Parent;
+    private Ftc2024_autonome_api Parent;
     /*
      * the wheel width in metres
      */
@@ -38,6 +38,11 @@ public class FTC2024WeRobotControl {
      * the width size of the tiles on the ground in metres
      */
     private final double ground_tiles_width = 61.0e-2; // metres
+    
+    private ElapsedTime timer;
+     
+    private YawPitchRollAngles robotOrientation;
+    
     /*
      * construct the FTC2024WeRobotControl class, the WeRobot Robot Controller Class
      * for the FTC2024
@@ -46,17 +51,11 @@ public class FTC2024WeRobotControl {
      * constructing the class directly in
      */
 
-    public FTC2024WeRobotControl(LinearOpMode Parent) {
+    public FTC2024WeRobotControl(Ftc2024_autonome_api Parent) {
         this.Parent = Parent;
+        this.timer = new ElapsedTime();
     }
-    /*
-     * test if motorSpeed is >= 0
-     */
-    public void testMotorSpeed(double motor_speed){
-        if(!((double)motor_speed>=0.0)){
-            throw new Exception("Motor Speed MUST be >= 0");
-        }
-    }
+
     /*
      * return a metre/sec speed
      * 
@@ -64,14 +63,10 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public double getSpeedFromMotorSpeed(double motor_speed) {
-        testMotorSpeed(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;
     }
-    public double getSpeedFromMotorSpeed(){
-        this.getSpeedFromMotorSpeed(1);
-    }
 
     /*
      * return the needed time for a distance
@@ -82,13 +77,9 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public double time_for_dist(double dist, double motor_speed) {
-        testMotorSpeed(motor_speed);
         double speed = getSpeedFromMotorSpeed(motor_speed);
         return (dist / speed);
     }
-    public double time_for_dist(double dist){
-        this.time_for_dist(dist,1);
-    }
 
     /*
      * go forward
@@ -100,10 +91,9 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public void forward(double n_tiles, double motor_speed) {
-        testMotorSpeed(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)) {
+        timer.reset();
+        while (Parent.opModeIsActive() && timer.seconds() < total_time) {
             Parent.lm.setPower(motor_speed);
             Parent.rm.setPower(motor_speed);
         }
@@ -125,11 +115,11 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public void backward(double n_tiles, double motor_speed) {
-        testMotorSpeed(motor_speed);
         forward(n_tiles, -motor_speed);
     }
+    
     public void backward(double n_tiles){
-        this.forward(n_tiles,1);
+        this.backward(n_tiles,1);
     }
 
     /*
@@ -141,9 +131,7 @@ public class FTC2024WeRobotControl {
     public void harvest(double motor_speed) {
         Parent.harvestmotor.setPower(motor_speed);
     }
-    public void harvest(){
-        this.harvest(1);
-    }
+
     /*
      * harvest
      * 
@@ -153,24 +141,28 @@ public class FTC2024WeRobotControl {
      * to 1
      */
     public void rotate(double angle, double motor_speed){
-        Parent.robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
-        double start_yaw = Parent.robotOrientation.getYaw(AngleUnit.DEGREES);
+        robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
+        double start_yaw = 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 
+        while(Parent.opModeIsActive() && (Math.abs(robotOrientation.getYaw(AngleUnit.DEGREES) - start_yaw) < Math.abs(angle))){
+            robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
+            m_power = (Math.abs(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 rotate(douvle angle){
-        this.rotate(tour_par_minutes, 1);
+    public void rotate(double angle){
+        this.rotate(angle,1.0);
+    }
+    
+    public void test_forward_10_and_rotate_20deg(){
+
     }
 }