diff --git a/AutonomeTest.java b/AutonomeTest.java
index 581cd96..49687ba 100644
--- a/AutonomeTest.java
+++ b/AutonomeTest.java
@@ -17,6 +17,7 @@ public class AutonomeTest extends LinearOpMode {
     private DcMotorEx boiteG;
     private DcMotorEx boiteD;
     private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor moissonneuse;
     
     @Override
     public void runOpMode(){
@@ -34,7 +35,7 @@ public class AutonomeTest extends LinearOpMode {
         droit.setDirection(DcMotorSimple.Direction.REVERSE);
         droit.setMode(DcMotorEx.RunMode.STOP_AND_RESET_ENCODER);
         droit.setZeroPowerBehavior(DcMotorEx.ZeroPowerBehavior.FLOAT);
-	moissonneuse = hardwareMap.get(DcMotor.class,"msn");
+	moissonneuse = hardwareMap.get(DcMotor.class,"moissonneuse");
         
         
         waitForStart();
@@ -64,12 +65,14 @@ public class AutonomeTest extends LinearOpMode {
         gauche.setTargetPosition(165);
         droit.setTargetPosition(1235);
         
-        while (opModeIsActive() && gauche.getCurrentPosition()>gauche.getTargetPosition()){
+        while (opModeIsActive() && droit.getCurrentPosition()>droit.getTargetPosition()){
             gauche.setVelocity(250);
             gauche.setMode(DcMotor.RunMode.RUN_TO_POSITION);
             droit.setVelocity(250);
             droit.setMode(DcMotor.RunMode.RUN_TO_POSITION);
         }
+	gauche.setVelocity(0);
+	droit.setVelocity(0);
         gauche.setTargetPosition(700*3);
         droit.setTargetPosition(700*3);
         
diff --git a/fgc2024Pilotage.java b/fgc2024Pilotage.java
index d36100a..f8b1d47 100644
--- a/fgc2024Pilotage.java
+++ b/fgc2024Pilotage.java
@@ -22,42 +22,47 @@ 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 = "WeRobot: FTC2024 NEW! Carlike", group = "WeRobot")
-public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
-    
+@TeleOp(name = "FGC2024", group = "WeRobot")
+public class FGC_2024 extends LinearOpMode {
+
     private DcMotorEx rm;
     private DcMotorEx lm;
 
 
     @Override
     public void runOpMode() throws InterruptedException {
-        
-        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
 
-        telemetry.addData("Status"," Initialized");
 
-        lm = hardwareMap.get(DcMotorEx.class, "lm");
-	    rm = hardwareMap.get(DcMotorEx.class, "rm");
-        lm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-	    rm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-	    lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-	    rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+	telemetry.addData("Status"," Initialized");
+	telemetry.update();
 
-        lpower = ((1+x)*Math.signum(y))/2;
-        rpower = ((1-x)*Math.signum(y))/2;
+	lm = hardwareMap.get(DcMotorEx.class, "lm");
+	lm.setDirection(DcMotor.Direction.REVERSE);
+	rm = hardwareMap.get(DcMotorEx.class, "rm");
+	//lm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+	//rm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
 
-        if ( x=1 || x=-1 ){
-            lpower = 1*Math.signum(x);
-            rpower = - lpower;
-        }
+	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 = lpower*gamepad1.left_trigger;
-        rpower = lpower*gamepad1.left_trigger;
+	    lpower = ((1+x)*Math.signum(y))/2;
+	    rpower = ((1-x)*Math.signum(y))/2;
 
-        rm.setPower(rpower);
-        lm.setPower(lpower);
+	    if (Math.abs(x)>0.8){
+		lpower = 1*Math.signum(x);
+		rpower = -lpower;
+	    }
+
+	    lpower = lpower*gamepad1.left_trigger;
+	    rpower = lpower*gamepad1.left_trigger;
+
+	    rm.setPower(rpower);
+	    lm.setPower(lpower);
+	    telemetry.update();
+	}
     }
-}
\ No newline at end of file
+}