diff --git a/WeRobot-Code.java b/WeRobot-Code.java
index fbe41f4..67413be 100644
--- a/WeRobot-Code.java
+++ b/WeRobot-Code.java
@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode;
 //package fr.gzod01.werobot.competition_singapour_2023;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.robot.Robot;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
@@ -20,141 +21,140 @@ public class DualDrive extends LinearOpMode {
   public void runOpMode() {
         float x;
         double y;
-	float g2x;
-	boolean ismoissonactive=false;
-	boolean ga;
-	boolean gy;
-	boolean preva =false;
+        float g2x;
+        boolean ismoissonactive=false;
+        boolean ga;
+        boolean gy;
+        boolean preva =false;
         flm = hardwareMap.get(DcMotor.class, "flm");
         frm = hardwareMap.get(DcMotor.class, "frm");
-	blm = hardwareMap.get(DcMotor.class, "blm");
-	brm = hardwareMap.get(DcMotor.class, "brm");
-	moissonmotor = hardwareMap.get(DcMotor.class, "msn");        
-	launchermotor = hardwareMap.get(DcMotor.class, "lnc");
-	mountmotor = hardwareMap.get(DcMotor.class, "mnt");
+        blm = hardwareMap.get(DcMotor.class, "blm");
+        brm = hardwareMap.get(DcMotor.class, "brm");
+        moissonmotor = hardwareMap.get(DcMotor.class, "msn");
+        launchermotor = hardwareMap.get(DcMotor.class, "lnc");
+        mountmotor = hardwareMap.get(DcMotor.class, "mnt");
         waitForStart();
 
         while (opModeIsActive()) {
             x = gamepad1.left_stick_x;
             y = -gamepad1.left_stick_y;
-	    a = gamepad1.a; 
-	    gy = gamepad1.y;
-	    if(a & !preva){
-		    ismoissonactive=!ismoissonactive;
-		    preva=true;
-	    }
-	    if(!a & preva){
-		    preva =false;
-	    }
-	    if(ismoissonactive){
-		    moissonmotor.setPower(1);
-	    }else{
-		    moissonmotor.setPower(0);
-	    }
-	    if(y){
-		    launchermotor.setPower(1);
-	    }else{
-		    launchermotor.setPower(0);
-	    }
-	    if (gamepad1.dpad_down){
-		    mountmotor.setPower(-1);
-	    }else if (gamepad1.dpad_up){
-		    mountmotor.setPower(1);
-	    }else{
-		    mountmotor.setPower(0);
-	    }
+            a = gamepad1.a;
+            gy = gamepad1.y;
+            if(a & !preva){
+                    ismoissonactive=!ismoissonactive;
+                    preva=true;
+            }
+            if(!a & preva){
+                    preva =false;
+            }
+            if(ismoissonactive){
+                    moissonmotor.setPower(1);
+            }else{
+                    moissonmotor.setPower(0);
+            }
+            if(y){
+                    launchermotor.setPower(1);
+            }else{
+                    launchermotor.setPower(0);
+            }
+            if (gamepad1.dpad_down){
+                    mountmotor.setPower(-1);
+            }else if (gamepad1.dpad_up){
+                    mountmotor.setPower(1);
+            }else{
+                    mountmotor.setPower(0);
+            }
 
-		  
-	    g2x = gamepad1.right_stick_x; 
-            Robot.moves(x,y,flm, frm,blm,brm); 
-	    Robot.Rotation(g2x, flm, frm, blm, brm);
+
+            g2x = gamepad1.right_stick_x;
+            Robot.moves(x,y,flm, frm,blm,brm);
+            Robot.Rotation(g2x, flm, frm, blm, brm);
         }
     }
 }
 public class Robot{
-	public void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
-		float approx = 0.15;
-		boolean xnozero = (x<-approx || x>approx);
-		boolean ynozero = (y<-approx || y>approx);
-		
-		if((xnozero & ynozero) || (xnozero || ynozero)){
-			//DO TRANSLATIONS
-			if(xnozero){
-				if(ynozzero){
-					Robot.diagonal(x,y, flm,frm,blm,brm);	
-				}else{
-					Robot.horizontal(x,flm,frm,blm,brm);
-				}
-			}else{
-				Robot.vertical(y,flm,frm,blm,brm);
-			}
-		}
-		else{
-			// NO TRANSLATIONS BECAUSE 0 SO STOP
-			flm.setPower(0);
-			frm.setPower(0);
-			blm.setPower(0);
-			brm.setPower(0);
-		}
+        public static void moves(float x, double y, DcMotor flm, DcMotor frm, DcMotor blm, DcMotor brm){
+                float approx = 0.15;
+                boolean xnozero = (x<-approx || x>approx);
+                boolean ynozero = (y<-approx || y>approx);
 
-	}
-	public void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
-		if(x>0){
-			if(y>0){
-				// North East
-				Robot.movement(flm,frm,blm,brm,[1,0,0,1]);
+                if((xnozero & ynozero) || (xnozero || ynozero)){
+                        //DO TRANSLATIONS
+                        if(xnozero){
+                                if(ynozzero){
+                                        Robot.diagonal(x,y, flm,frm,blm,brm);
+                                }else{
+                                        Robot.horizontal(x,flm,frm,blm,brm);
+                                }
+                        }else{
+                                Robot.vertical(y,flm,frm,blm,brm);
+                        }
+                }
+                else{
+                        // NO TRANSLATIONS BECAUSE 0 SO STOP
+                        flm.setPower(0);
+                        frm.setPower(0);
+                        blm.setPower(0);
+                        brm.setPower(0);
+                }
 
-			}
-			else{
-				//South East
-				Robot.movement(flm,frm,blm,brm,[0,-1,-1,0]);
-			}
-		}else{
-			if(y>0){
-				//North West
-				Robot.movement(flm,frm,blm,brm,[0,1,1,0]);
-			}
-			else{
-				//South West
-				Robot.movement(flm,frm,blm,brm,[-1,0,0,-1]);
-			}
-		}
-	}
-	public void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
-		if(x>0){
-			Robot.movement(flm,frm,blm,brm,[1,-1,-1,1]);
-		}else{
-			Robot.movement(flm,frm,blm,brm,[-1,1,1,-1]);
-		}
+        }
+        public static void diagonal(float x, double y, DcMotor flm, DcMotor frm,DcMotor blm,DcMotor brm){
+                if(x>0){
+                        if(y>0){
+                                // North East
+                                Robot.movement(flm,frm,blm,brm,{1,0,0,1});
 
-			
+                        }else{
+                                //South East
+                                Robot.movement(flm,frm,blm,brm,{0,-1,-1,0});
+                        }
+                }else{
+                        if(y>0){
+                                //North West
+                                Robot.movement(flm,frm,blm,brm,{0,1,1,0});
+                        }
+                        else{
+                                //South West
+                                Robot.movement(flm,frm,blm,brm,{-1,0,0,-1});
+                        }
+                }
+        }
+        public static void horizontal(float x,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
+                if(x>0){
+                        Robot.movement(flm,frm,blm,brm,{1,-1,-1,1});
+                }else{
+                        Robot.movement(flm,frm,blm,brm,;{-1,1,1,-1});
+                }
 
-	}
-	public void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
-		if(y>0){
-			Robot.movement(flm,frm,blm,brm,[1,1,1,1]);
-		}else{
-			Robot.movement(flm,frm,blm,brm,[-1,-1,-1,-1]);
-		}
 
-	}
-	public void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] list){
-		flm.setPower(list[0]);
-		frm.setPower(list[1]);
-		blm.setPower(list[2]);
-		brm.setPower(list[3]);
-	}
-	public void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
-		float approx = 0.15;
-		boolean xnozero = (g2x<-approx || g2x>approx);
-		if(xnozero){
-			if(x>0){
-				Robot.movement(flm,frm,blm,brm,[1,-1,1,-1]);
-			}else{
-				Robot.movement(flm,frm,blm,brm,[-1,1,-1,1]);
-			}
-		}
-	}
 
-		
-}
+        }
+        public static void vertical(double y,DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
+                if(y>0){
+                        Robot.movement(flm,frm,blm,brm,{1,1,1,1});
+                }else{
+                        Robot.movement(flm,frm,blm,brm,{-1,-1,-1,-1});
+                }
+
+        }
+        public static void movement(DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm,int[] list){
+                flm.setPower(list[0]);
+                frm.setPower(list[1]);
+                blm.setPower(list[2]);
+                brm.setPower(list[3]);
+        }
+        public static void Rotations(float g2x, DcMotor flm,DcMotor frm,DcMotor blm,DcMotor brm){
+                float approx = 0.15;
+                boolean xnozero = (g2x<-approx || g2x>approx);
+                if(xnozero){
+                        if(x>0){
+                                Robot.movement(flm,frm,blm,brm,{1,-1,1,-1});
+                        }else{
+                                Robot.movement(flm,frm,blm,brm,{-1,1,-1,1});
+                        }
+                }
+        }
+
+
+}
\ No newline at end of file