celerate(1,0,15,2.5); //accelerate motor 1 from 0 to 15% over 2.5 seconds
goFor(1); //go at speed 15% for 1 second
brake(1); // break motor 1
celerate(2,0,27,4); //accelerate motor 2 from 0 to 27% over 4 seconds
goFor(2.7); // constant speed of 27% for 2.7 seconds
celerate(2,27,15,1); //decellerate motor 2 from 27% to 15% over 1 second
brake(2); //break motor 2
reverse(2); // reverse the direction of motor 2
celerate(4,0,31,2); // accelerate all motors to 31% over 2 seconds
motorSpeed(4,35); // set all motors to 35% speed
goFor(1); // keep constant speed for 1 second
brake(2); // break motor 2
goFor(3); // keep constant speed for 3 seconds
brake(4); // break all motors
goFor(1); // constant speed of 0 for 1 second
reverse(1); // reverse motor 1 direction
celerate(1,0,19,2); // accelerate motor 1 from 0 to 19% over 2 seconds
motorSpeed(2,35); // set motor 2 speed to 35
goFor(2); // keep this constant speed for 2 seconds
motorSpeed(4,19); // set all motors to 19%
goFor(2); // keep this speed for 2 seconds
celerate(4,19,0,3); // decellerate all motors from 19 to 0 over 3 seconds
brake(4); // break all motors