diff --git a/.lastmatch.java.un~ b/.lastmatch.java.un~
new file mode 100644
index 0000000..0d55324
Binary files /dev/null and b/.lastmatch.java.un~ differ
diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java
index 7355321..0aa970d 100644
--- a/ftc2024_autonome_api.java
+++ b/ftc2024_autonome_api.java
@@ -100,25 +100,25 @@ public class Ftc2024_autonome_api extends LinearOpMode {
                     robot.boxElv();
                     robot.harvest(1);
                     robot.forward(2);
-                    robot.harvest(0);
+                    /*robot.harvest(0);
                     robot.rotate((-90));
                     robot.posBasse();
                     robot.forward(3.5);
                     robot.harvest(-1);
                     robot.backward(0.5);
                     robot.harvest(0);
-                    robot.forward(0.5);
+                    robot.forward(0.5);*/
                     break;
                 case B2D:
                     robot.posBasse();
                     robot.harvest(1);
-                    robot.forward(0.5);
-                    robot.harvest(0);
                     robot.forward(1);
+                    robot.harvest(0);
+                   /* robot.forward(1);
                     robot.harvest(-1);
                     robot.backward(0.5);
                     robot.harvest(0);
-                    robot.forward(0.5);
+                    robot.forward(0.5);*/
                     break;
                 case R4D:
                     robot.boxElv();
diff --git a/lastmatch.java b/lastmatch.java
new file mode 100644
index 0000000..8d8f27b
--- /dev/null
+++ b/lastmatch.java
@@ -0,0 +1,129 @@
+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_last extends LinearOpMode {
+    public enum AutoMode {
+	B2D, B4D
+    }
+
+    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() {
+
+	boolean auto = false;
+	lm = hardwareMap.get(DcMotor.class, "blm");
+	rm = hardwareMap.get(DcMotor.class, "brm");
+	harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
+	rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
+	lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
+	lmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+	lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+	rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
+	rmelevator.setDirection(DcMotor.Direction.REVERSE);
+	rmelevator.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+	rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+	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 = AutoMode.B4D;
+
+	telemetry.addData("wait for start", "");
+	telemetry.update();
+
+	waitForStart();
+	telemetry.addData("started", "");
+	telemetry.update();
+	robotOrientation = imu.getRobotYawPitchRollAngles();
+
+	while (opModeIsActive()) {
+	    if (gamepad1.a && !auto) {
+		auto = true;
+		break;
+	    }
+	}
+	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.harvest(1);
+		    robot.forward(2);
+		    /*
+		     * robot.harvest(0);
+		     * robot.rotate((-90));
+		     * robot.posBasse();
+		     * robot.forward(3.5);
+		     * robot.harvest(-1);
+		     * robot.backward(0.5);
+		     * robot.harvest(0);
+		     * robot.forward(0.5);
+		     */
+		    break;
+		case B2D:
+		    robot.posBasse();
+		    robot.harvest(1);
+		    robot.forward(1);
+		    robot.harvest(0);
+		    /*
+		     * robot.forward(1);
+		     * robot.harvest(-1);
+		     * robot.backward(0.5);
+		     * robot.harvest(0);
+		     * robot.forward(0.5);
+		     */
+		    break;
+	    }
+	}
+    }
+}