{ //Accelerate Motor 1 to 15 percent over 2.5 seconds
celerate(1,0,15,2.5);
//Set Motor 1 to run at 15 percent speed for 1 second
motorSpeed(1,15,1);
//Brake Motor 1
brake(1);
//Accelerate Motor 2 to 27 percent
celerate(2,0,27,4);
//Set Motor 2 to run at 27 percent for 2.7 seconds
motorSpeed(2,27,2.7);
//Slow Motor 2 to 15 percent over 1 second
celerate(2,27,15,1);
//Brake Motor 2
brake(2);
// Reverse Motor 2
reverse(2);
//Accelerate all motors to 31 percent
celerate(4,0,31,2);
//Set all motors to run at 35 percent
motorSpeed(4,35,1);
//Brake Motor 2
brake(2);
//Set motor 1 to run at 35 percent
motorSpeed(1,35,3);
//Brake all motors for 1 second
brake(4,1);
//Reverse motor 1
reverse(1);
//Accelerate motor 1 to 19 for two seconds
celerate(1,0,19,2);
//Set the speed of M1 to 19 and M2 to 35 for 2 seconds
motorSpeed(2,35,2);
motorSpeed(1,19,2);
//Set all motors to 19 percent
motorSpeed(4,19);
//Decelerate all motors to 0 over 3 seconds
celerate(4,19,0,3);
//Brake all motors
brake(4);
}