// GETTING US TO GATE 1st TIME
// Reverse all motors
reverse(4);
//Setall motors to 30% power and go for 2 seconds
motorSpeed(4,30);
goFor(2);
//Set all motors to 25% power and go to absolute position 410
motorSpeed(4,25);
goToAbsolutePosition(430);
//STOPPING US AT GATE
//Reverse all motors
reverse(4);
//Run all motors at 35% power and go for 1.5 seconds
motorSpeed(4,32);
goFor(1.5);
//Stop all motors
brake(4);
//ACCELERATING AFTER 1st GATE
//Reverse al motors
reverse(4);
//Run all motors at 0% power for 7 seconds
motorSpeed(4,0);
goFor(7);
//Run all motors at 30% power and go to absolute position 770
motorSpeed(4,30);
goToAbsolutePosition(740);
//COASTING TO THE FINISH
motorSpeed(4,0);
goFor(12);
//Back to Gate
reverse(4);
motorSpeed(4,39);
goToAbsolutePosition(740);
motorSpeed(4,35);
goToAbsolutePosition(617);
brake(4);
reverse(4);
motorSpeed(4,51);
goFor(2.2);
//Return Home
reverse(4);
motorSpeed(4,0);
goFor(7);
//Speed up back to home
motorSpeed(4,45);
goFor(1.5);
motorSpeed(4,35);
goToAbsolutePosition(35);
//STOP
reverse(4);
motorSpeed(4,51);
goFor(2);