celerate(4,0,25,3); // Accelerate all motors to 25% power in 3 seconds motorSpeed(4,25); // Run all motors at 25% power goFor(1); // Continue for 1 second motorSpeed(4,20); // Run all motors at 20% power goFor(2); // Continue for 2 seconds reverse(4); // Reverse all motors motorSpeed(4,25); // Run all motors 25% power goFor(2); // Continue for 2 seconds brake(4); // Cut power to all motors