diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..3dea4fd2e45a76e3950335ef85542e4afafc9216 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -21,7 +21,26 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        self.publish_twist(0, -120.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -150.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(2, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(1, 0.0)
+        self.publish_twist(0, -30.0)
+        self.publish_twist(1, 0.0)
 
 
 def main(args=None):
@@ -32,4 +51,4 @@ def main(args=None):
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()