diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java
index a4514a0..3b503fc 100644
--- a/ftc2024-carlike.java
+++ b/ftc2024-carlike.java
@@ -14,91 +14,94 @@ import com.qualcomm.robotcore.hardware.Servo;
 
 @TeleOp(name="WeRobot: FTC2024 Carlike", group="WeRobot")
 public class Werobot_FTC2024_carlike extends LinearOpMode {
-        private DcMotor rm;
-        private DcMotor lm;
-    private double helloexp(double t){
-        return (Math.exp(5*t)-1)/(Math.exp(5)-1);
-    }
-        @Override
-        public void runOpMode() throws InterruptedException {
-                float x;
-                double y;
-                double t;
-                double t2;
-                double t3;
-                String mode = "normal";
-                boolean already_a = false;
-                telemetry.addData("Status", "Initialized");
-                telemetry.update();
-                lm = hardwareMap.get(DcMotor.class, "blm");
-                rm = hardwareMap.get(DcMotor.class, "brm");
-        rm.setDirection(DcMotorSimple.Direction.REVERSE);
-                waitForStart();
-                
-                
-                while (opModeIsActive()) {
-                        x = gamepad1.left_stick_x;
-                        y = gamepad1.left_stick_y;
-                        t= gamepad1.right_trigger;
-                        t2 = helloexp(t);
-                        t3 = helloexp(Math.sqrt(Math.pow(x,2)+Math.pow(y,2)));
-                        telemetry.addData("Status", "Running");
-                        if(gamepad1.a && !already_a){
-                                if(mode=="normal"){
-                                        mode="tank";
-                                }else if(mode=="tank"){
-                    mode = "essaifranck";
-                                }else if (mode == "essaifranck"){
-                                        mode = "elina";
-                }else{
-                                        mode="normal";
-                                }
-                                already_a = true;
-                        }
-                        if(!gamepad1.a && already_a){
-                                already_a = false;
-                        }
-                        double lpower = 0.0;
-                        double rpower = 0.0;
-                        if(mode=="normal"){
-                                double ysign = y>0?1.0:(y<0?-1.0:0.0);
-                                double xsign = x>0?1.0:(x<0?-1.0:0.0);
-                                lpower = -ysign * t + (xsign-2*x)*t;
-                                rpower = ysign * t + (xsign-2*x)*t;
-                        }
-                        else if (mode=="tank"){
-                                lpower = -y;
-                                rpower = gamepad1.right_stick_y;
-                        }
-            else if (mode=="essaifranck"){
-                double a = (-y+x)/Math.pow(2,1/2);
-                double b = (-y-x)/Math.pow(2,1/2);
-                                double vmean = (Math.abs(a)+Math.abs(b))/2;
-                                lpower = (a/vmean)*t2;
-                                rpower = (b/vmean)*t2;
-            }
-                        else if (mode=="elina"){
-                                double a = (-y+x)/Math.pow(2,1/2);
-                double b = (-y-x)/Math.pow(2,1/2);
-                                double vmean = (Math.abs(a)+Math.abs(b))/2;
-                                lpower = (a/vmean)*t3;
-                                rpower = (b/vmean)*t3;
-                        }
-                        if(!(gamepad1.left_bumper)){
-                                lpower/=3;
-                                rpower/=3;
-                        }
-                        lm.setPower(lpower);
-                        rm.setPower(rpower);
-            
-            telemetry.addData("x",x);
-            telemetry.addData("y",y);
-            telemetry.addData("lpow",lpower);
-            telemetry.addData("rpow",rpower);
-                        telemetry.addData("ltrigg",t);
-                        telemetry.addData("t2",t2);
-                        telemetry.addData("mode",mode);
-                        telemetry.update();
-                }
-        }
-}
\ No newline at end of file
+	private DcMotor rm;
+	private DcMotor lm;
+	private IntegratingGyroscope imu;
+	private double helloexp(double t){
+		return (Math.exp(5*t)-1)/(Math.exp(5)-1);
+	}
+	@Override
+	public void runOpMode() throws InterruptedException {
+		float x;
+		double y;
+		double t;
+		double t2;
+		double t3;
+		String mode = "normal";
+		boolean already_a = false;
+		telemetry.addData("Status", "Initialized");
+		telemetry.update();
+		lm = hardwareMap.get(DcMotor.class, "blm");
+		rm = hardwareMap.get(DcMotor.class, "brm");
+		imu = hardwareMap.get(IntegratingGyroscope.class, "imu");
+		rm.setDirection(DcMotorSimple.Direction.REVERSE);
+		waitForStart();
+
+
+		while (opModeIsActive()) {
+			x = gamepad1.left_stick_x;
+			y = gamepad1.left_stick_y;
+			t= gamepad1.right_trigger;
+			t2 = helloexp(t);
+			t3 = helloexp(Math.sqrt(Math.pow(x,2)+Math.pow(y,2)));
+			telemetry.addData("Status", "Running");
+			if(gamepad1.a && !already_a){
+				if(mode=="normal"){
+					mode="tank";
+				}else if(mode=="tank"){
+					mode = "essaifranck";
+				}else if (mode == "essaifranck"){
+					mode = "elina";
+				}else{
+					mode="normal";
+				}
+				already_a = true;
+			}
+			if(!gamepad1.a && already_a){
+				already_a = false;
+			}
+			double lpower = 0.0;
+			double rpower = 0.0;
+			if(mode=="normal"){
+				double ysign = y>0?1.0:(y<0?-1.0:0.0);
+				double xsign = x>0?1.0:(x<0?-1.0:0.0);
+				lpower = -ysign * t + (xsign-2*x)*t;
+				rpower = ysign * t + (xsign-2*x)*t;
+			}
+			else if (mode=="tank"){
+				lpower = -y;
+				rpower = gamepad1.right_stick_y;
+			}
+			else if (mode=="essaifranck"){
+				double a = (-y+x)/Math.pow(2,1/2);
+				double b = (-y-x)/Math.pow(2,1/2);
+				double vmean = (Math.abs(a)+Math.abs(b))/2;
+				lpower = (a/vmean)*t2;
+				rpower = (b/vmean)*t2;
+			}
+			else if (mode=="elina"){
+				double a = (-y+x)/Math.pow(2,1/2);
+				double b = (-y-x)/Math.pow(2,1/2);
+				double vmean = (Math.abs(a)+Math.abs(b))/2;
+				lpower = (a/vmean)*t3;
+				rpower = (b/vmean)*t3;
+			}
+			if(!(gamepad1.left_bumper)){
+				lpower/=3;
+				rpower/=3;
+			}
+			lm.setPower(lpower);
+			rm.setPower(rpower);
+
+			telemetry.addData("x",x);
+			telemetry.addData("y",y);
+			telemetry.addData("lpow",lpower);
+			telemetry.addData("rpow",rpower);
+			telemetry.addData("ltrigg",t);
+			telemetry.addData("t2",t2);
+			telemetry.addData("mode",mode);
+			telemetry.addData("imu angular orientation", imu.getAngularOrientation());
+			telemetry.update();
+		}
+	}
+}