Final Code Used

reverse(2);

 

 motorSpeed(4,35);

 goToAbsolutePosition(182);

 brake(4);

 goFor(12); //This is so the AEV will wait besides the gate

 motorSpeed(4,35);

 goToRelativePosition(85);

 brake(4);

 goFor(10);

 reverse(4);

 motorSpeed(4,45);

 goToRelativePosition(-142);

 brake(4);

 goFor(15);

 motorSpeed(4,45);

 goToRelativePosition(-105);

 reverse(4);

 goFor(2);

 motorSpeed(4,35);

 goFor(2);