diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java
new file mode 100644
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+++ b/ftc2024_autonome_api.java
@@ -0,0 +1,190 @@
+package org.firstinspires.ftc.teamcode;
+
+//import FTC2024WeRobotControl; //a tester car pas sur que ça fonctionne
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+
+import com.qualcomm.robotcore.hardware.IMU;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+
+import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
+import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
+import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@Autonomous
+
+public class Ftc2024_autonome_api extends LinearOpMode {
+    public enum AutoMode{
+		B2D,B4D,B2N,B4N,R2D,R4D,R2N,R4N
+	}
+	public AutoMode autonomous_mode;
+    public DcMotor lm;
+    public DcMotor rm;
+    public DcMotorEx lmelevator;
+    public DcMotorEx rmelevator;
+    public DcMotor harvestmotor;
+    public IMU imu;
+    public DcMotorEx rotation;
+
+    @Override
+    public void runOpMode() {
+        lm = hardwareMap.get(DcMotor.class, "blm");
+        rm = hardwareMap.get(DcMotor.class, "brm");
+        harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
+        rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
+
+        rm.setDirection(DcMotor.Direction.REVERSE);
+        rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        imu = hardwareMap.get(IMU.class, "imu");
+        imu.initialize(
+                new IMU.Parameters(
+                        new RevHubOrientationOnRobot(
+                                RevHubOrientationOnRobot.LogoFacingDirection.UP,
+                                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD)));
+        imu.resetYaw();
+        YawPitchRollAngles robotOrientation;
+        FTC2024WeRobotControl robot = new FTC2024WeRobotControl(this);
+        autonomous_mode = "b4d";
+
+        telemetry.addData("wait for start", "");
+        telemetry.update();
+        
+        
+
+        waitForStart();
+        telemetry.addData("started", "");
+        telemetry.update();
+        robotOrientation = imu.getRobotYawPitchRollAngles();
+
+        if (opModeIsActive()) {
+            /*
+             * autonomous_mode differents possibles values respect the next scheme:
+             * team_color_shortcode + start_line_index + direct_or_no
+             *
+             * team_color_shortcode = "b" for blue & "r" for red
+             * start_line_index = 4 or 2 see competition manual appendix B Tile location
+             * plan
+             * direct_or_no = "d" to direct go to pixel deliver zone or "n" to harvest
+             * pixels before to go in deliver zone
+             *
+             * default is "b4d"
+             */
+            switch (autonomous_mode) {
+                default:
+                    robot.boxElv();
+                    robot.forward(0.5);
+                    robot.rotate((-90));
+                    robot.forward(1.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+                case ("b2d"):
+                    robot.boxElv();
+                    robot.forward(0.5);
+                    robot.rotate((-90));
+                    robot.forward(2.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+                case ("r4d"):
+                    robot.boxElv();
+                    robot.forward(0.5);
+                    robot.rotate(90);
+                    robot.forward(1.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+                case ("r2d"):
+                    robot.boxElv();
+                    robot.forward(0.5);
+                    robot.rotate(90);
+                    robot.forward(2.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+                case ("b4n"):
+                    robot.boxElv();
+                    robot.forward(1.5);
+                    robot.rotate(90);
+                    robot.harvest();
+                    robot.forward(3);
+                    robot.harvest(0);
+                    robot.rotate(180);
+                    robot.forward(1);
+                    robot.rotate(-90);
+                    robot.forward(1);
+                    robot.rotate(90);
+                    robot.forward(2.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+                case ("b2n"):
+                    robot.boxElv();
+                    robot.forward(1.5);
+                    robot.rotate(90);
+                    robot.harvest();
+                    robot.forward(1);
+                    robot.harvest(0);
+                    robot.rotate(180);
+                    robot.forward(1);
+                    robot.rotate(-90);
+                    robot.forward(1);
+                    robot.rotate(90);
+                    robot.forward(2.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+                case ("r4n"):
+                    robot.boxElv();
+                    robot.forward(1.5);
+                    robot.rotate(-90);
+                    robot.harvest();
+                    robot.forward(3);
+                    robot.harvest(0);
+                    robot.rotate(180);
+                    robot.forward(1);
+                    robot.rotate(90);
+                    robot.forward(1);
+                    robot.rotate(-90);
+                    robot.forward(2.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+                case ("r2n"):
+                    robot.boxElv();
+                    robot.forward(1.5);
+                    robot.rotate(-90);
+                    robot.harvest();
+                    robot.forward(1);
+                    robot.harvest(0);
+                    robot.rotate(180);
+                    robot.forward(1);
+                    robot.rotate(90);
+                    robot.forward(1);
+                    robot.rotate(-90);
+                    robot.forward(2.5);
+                    robot.harvest(-1);
+                    robot.backward(1);
+                    robot.harvest(0);
+                    break;
+            }
+        }
+    }
+}
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