This is the code that was used during advance R&D
// reverse all motors
reverse(4);
// accelerate all motors from stop to 35 percent over 3 seconds
celerate(4,0,35,3);
// all motors 35 percent
motorSpeed(4,35);
// Sustain this motor speed for 1 second
goFor(1);
// reverse all motors
reverse(4);
// all motors 35 percent
motorSpeed(4,35);
// Sustain this motor speed for 2 seconds
goFor(2);
// Brakes all motors
brake(4);