reverse(4); //Reverse the polarity of all motors.
celerate(4,0,35,3); //Accelerate all motors from 0% to 35% speed in 3 seconds.
motorSpeed(4,35); //Initialize all motors to 35% power.
goFor(5); //Execute previous command for 5 seconds.
reverse(4); //Reverse the polarity of all motors.
motorSpeed(4,30); //Initialize all motors to 30% power.
goFor(2); //Execute previous command for 2 seconds.
brake(4); //Remove power from all motors.