Energy vs. Time Code

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