diff --git a/FTC2024WeRobotControl.java b/FTC2024WeRobotControl.java
index 55f0ceb..5d6ef89 100644
--- a/FTC2024WeRobotControl.java
+++ b/FTC2024WeRobotControl.java
@@ -58,6 +58,7 @@ public class FTC2024WeRobotControl {
 		this.timer = new ElapsedTime();
 	}
 
+<<<<<<< HEAD
 	public void boxElv() {
 		Parent.lmelevator.setVelocity(600);
 		Parent.rmelevator.setVelocity(600);
@@ -75,6 +76,44 @@ public class FTC2024WeRobotControl {
 	 * @param motor_speed = (optional) double between 0 and 1; motor power; default
 	 * to 1
 	 */
+=======
+    /*
+     * return a metre/sec speed
+     *
+     * @param motor_speed = (optional) double between 0 and 1; motor power; default
+     * to 1
+     */
+    
+    public void boxElv(){
+        Parent.lmelevator.setVelocity(600);
+        Parent.rmelevator.setVelocity(600);
+        Parent.lmelevator.setTargetPosition(90);
+        Parent.rmelevator.setTargetPosition(90);
+        Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        }
+        
+    public void posBasse(){
+        Parent.lmelevator.setVelocity(600);
+        Parent.rmelevator.setVelocity(600);
+        Parent.rotation.setVelocity(600);
+        Parent.lmelevator.setTargetPosition(0);
+        Parent.rmelevator.setTargetPosition(0);
+        Parent.rotation.setTargetPosition(800);
+        Parent.lmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        Parent.rmelevator.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        Parent.rotation.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+        
+    }
+        
+    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;
+    }
+    
+    
+>>>>>>> 1a4f84df926fc16dbce849ff988c4823ffffb3e1
 
 	public double getSpeedFromMotorSpeed(double motor_speed) {
 		double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
diff --git a/ftc2024_autonome_api.java b/ftc2024_autonome_api.java
index 88a8201..7638547 100644
--- a/ftc2024_autonome_api.java
+++ b/ftc2024_autonome_api.java
@@ -41,8 +41,8 @@ public class Ftc2024_autonome_api extends LinearOpMode {
         rm = hardwareMap.get(DcMotor.class, "brm");
         harvestmotor = hardwareMap.get(DcMotor.class, "moissonneuse");
         rotation = hardwareMap.get(DcMotorEx.class, "elvRot");
-		lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
-		rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
+        lmelevator = hardwareMap.get(DcMotorEx.class, "ltrselv");
+        rmelevator = hardwareMap.get(DcMotorEx.class, "rtrselv");
 
         rm.setDirection(DcMotor.Direction.REVERSE);
         rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -106,6 +106,7 @@ public class Ftc2024_autonome_api extends LinearOpMode {
                     robot.boxElv();
                     robot.forward(2);
                     robot.rotate(90);
+                    robot.posBasse();
                     robot.forward(3.5);
                     robot.harvest(-1);
                     robot.backward(0.5);