diff --git a/autonome_api.java b/autonome_api.java
index 8b13789..5cb33b1 100644
--- a/autonome_api.java
+++ b/autonome_api.java
@@ -1 +1,117 @@
+package org.firstinspires.ftc.teamcode;
 
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+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 {
+    private DcMotor rm;
+    private DcMotor lm;
+    private IMU imu;
+    private static double wheel_width = 9.0e-2; // metres
+    private static double wheel_perimeter = Math.PI * wheel_width;
+    private static double tour_par_minutes = 300.0;
+    private static double ground_tiles_width = 61.0e-2; // metres
+    /*
+     * return a metre/sec speed
+     * @param motor_speed = double between 0 and 1
+     */
+    public double getSpeedFromMotorSpeed(double motor_speed = 1.0){
+      double speed_tour_par_minutes = this.tour_par_minutes*motor_speed;
+      double speed = (speed_tour_par_minutes/60)*this.wheel_perimeter;
+      return speed;
+    }
+    public double time_for_dist(double dist, double motor_speed=1.0){
+      double speed = getSpeedFromMotorSpeed(motor_speed);
+      return (dist/speed);
+    }
+    public void forward(double n_tiles, double motor_speed = 1.0){
+      double total_time = time_for_dist(n_tiles, motor_speed);
+      double start_time = runtime.seconds();
+      while( opModeIsActive() && ((runtime.seconds()-start_time)<total_time)){
+        lm.setPower(motor_speed);
+        rm.setPower(motor_speed);
+      }
+      lm.setPower(0);
+      rm.setPower(0);
+    }
+
+    @Override
+
+    public void runOpMode() {
+        lm = hardwareMap.get (DcMotor.class, "blm");
+        rm = hardwareMap.get (DcMotor.class, "brm");
+
+        rm.setDirection(DcMotor.Direction.REVERSE);
+        
+        imu = hardwareMap.get(IMU.class, "imu");
+        imu.initialize(
+            new IMU.Parameters(
+                new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.UP,
+                    RevHubOrientationOnRobot.UsbFacingDirection.FORWARD
+                )
+            )
+            );
+        imu.resetYaw();
+        YawPitchRollAngles robotOrientation;
+        robotOrientation = imu.getRobotYawPitchRollAngles();
+        double Yaw   = robotOrientation.getYaw(AngleUnit.DEGREES);
+        double yaw_sortie = 0.0;
+
+        waitForStart();
+
+        while (opModeIsActive()){
+            double [] lm_p = {0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1};
+            double [] rm_p = {-0.1,-0.2,-0.3,-0.4,-0.5,-0.6,-0.7,-0.8,-0.9,-1};
+            double [] x = new double[lm_p.length];
+            for(int i = 0; i< 9; i++){
+                while (opModeIsActive() && Yaw < 90){
+                    lm.setPower(lm_p[i]);
+                    rm.setPower(rm_p[i]);
+                    robotOrientation = imu.getRobotYawPitchRollAngles();
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    telemetry.addData("Yaw ", Yaw);
+                    telemetry.update();
+                    yaw_sortie = Yaw;
+                }
+                telemetry.addData("Yaw sortie", yaw_sortie);
+                telemetry.update();
+                Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                x [i]= Yaw - yaw_sortie;
+                
+                imu.resetYaw();
+                Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                telemetry.addData("Yaw", Yaw);
+                telemetry.update();
+            }
+            while (opModeIsActive()){
+                telemetry.addData("0.1", x[0]);
+                telemetry.addData("0.2", x[1]);
+                telemetry.addData("0.3", x[2]);
+                telemetry.addData("0.4", x[3]);
+                telemetry.addData("0.5", x[4]);
+                telemetry.addData("0.6", x[5]);
+                telemetry.addData("0.7", x[6]);
+                telemetry.addData("0.8", x[7]);
+                telemetry.addData("0.9", x[8]);
+                telemetry.addData("1", x[9]);
+            }
+        }
+    }
+}