celerate(1,0,15,2.5); // Accelerate motor one from start to 15% power in 2.5 seconds. 
goFor(1); // Run motor one at a constant speed (15% power) for 1 second. 
brake(1); // Brake motor one. 
celerate(2,0,27,4); // Accelerate motor two from start to 27% power in 4 seconds. 
goFor(2.7); // Run motor two at a constant speed (27% power) for 2.7 seconds. 
celerate(2,27,15,1); // Decelerate motor two to 15% power in 1 second. 
brake(2); // Brake motor two. 
reverse(2); // Reverse the direction of only motor 2. 
celerate(4,0,31,2); // Accelerate all motors from start to 31% power in 2 seconds. 
motorSpeed(4,35); // Run all motors at a constant speed of 35% power 
goFor(1); // For 1 second. 
brake(2); // Brake motor two  
goFor(3); // Keep motor one running at a constant speed (35% power) for 3 seconds. 
brake(4); // Brake all motors  
goFor(1); // For 1 second. 
reverse(1); // Reverse the direction of motor one. 
celerate(1,0,19,2); // Accelerate motor one from start to 19% power over 2 seconds. 
motorSpeed(2,35); // Run motor two at 35% power  
goFor(2); // While simultaneously running motor one at 19% power for 2 seconds. 
motorSpeed(4,19); // Run both motors at a constant speed (19% power)  
goFor(2); //For 2 seconds. 
celerate(4,19,0,3); // Decelerate both motors to 0% power in 3 seconds. 
brake(4); // Brake all motors.