Reaching the Gate: Inner Track

motorSpeed(4, 50); // Run all motors at a constant speed of 25% power  
goFor(2); // For 2 seconds 
motorSpeed(4, 50); // Run all motors at a constant speed of 25% power  
goToAbsolutePosition(332); // Travel a total distance of 13.5 feet (from the starting point).  
reverse(4); // Reverse the motors. 
motorSpeed(4, 60); // Run all motors at a constant speed of 30% power  
goFor(1); // For 1 second. 
brake(4); // Brake all motors.