diff --git a/autonome_api.java b/autonome_api.java
index ae902e8..c27825c 100644
--- a/autonome_api.java
+++ b/autonome_api.java
@@ -23,10 +23,10 @@ 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
+    private final double wheel_width = 9.0e-2; // metres
+    private final double wheel_perimeter = Math.PI * wheel_width;
+    private final double tour_par_minutes = 300.0;
+    private final double ground_tiles_width = 61.0e-2; // metres
     /*
      * return a metre/sec speed
      * @param motor_speed = double between 0 and 1
@@ -41,7 +41,7 @@ public class ftc2024_autonome_api extends LinearOpMode {
       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 total_time = time_for_dist(n_tiles*ground_tiles_width, motor_speed);
       double start_time = runtime.seconds();
       while( opModeIsActive() && ((runtime.seconds()-start_time)<total_time)){
         lm.setPower(motor_speed);
@@ -92,42 +92,9 @@ public class ftc2024_autonome_api extends LinearOpMode {
 
         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]);
-            }
-        }
+        if(opModeIsRunning()){
+            forward(2);
+            rotate(90);
+            forward(2);
     }
 }