Final Code

reverse(2);                    //Reverse one motor so they both blow the same direction

celerate(4,0,45,3);      //Accelerate both motors from 0 to 45% over 3 sec

motorSpeed(4,25);     //Both motors at 25% until ~13 ft. away from start

goToAbsolutePosition(315);

reverse(4);

motorSpeed(4,25);     //cut and reverse over 3 feet

goToAbsolutePosition(390);

reverse(4);

brake(4);                       //No motor activity for 7 sec

goFor(7);

celerate(4,0,45,3);     //Accelerate both motors from 0 to 45% over 3 sec

motorSpeed(4,30);    //both motors at 30%

goToAbsolutePosition(625);    //~25ft away from start

brake(4);                     //No motor activity

goToAbsolutePosition(790);

brake(4);                    //Stop to secure R2

goFor(5);

reverse(4);                  //Return position

celerate(4,0,70,5);      //Accelerate both motors from 0 to 70% over 5 sec

motorSpeed(4,45);      //both motors at 45% part of the way back

goToAbsolutePosition(650);

motorSpeed(4,25);     //both motors at 25% until ~21 ft. from track start

goToAbsolutePosition(515);

reverse(4);

motorSpeed(4,25);     //cut and reverse over ~2 feet

goToAbsolutePosition(475);

reverse(4);

brake(4);                      //stop at gate on way back

goFor(7);

celerate(4,0,70,5);     //Accelerate both motors from 0 to 70% over 5 sec

motorSpeed(4,45);      //both motors at 45% until 7 feet away from start

goToAbsolutePosition(175);