diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..60286fd7ed4e7d7435d2334f90e53b7da0408814 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -21,7 +21,19 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        self.publish_twist(0, 90.0)
+	self.publish_twist(3, 0.0)
+	self.publish_twist(0, -180.0)
+	self.publish_twist(6, 0.0)
+	self.publish_twist(0, 180.0)
+	self.publish_twist(3, 0.0)
+	self.publish_twist(0, -90.0)
+	self.publish_twist(2, 90.0)
+	self.publish_twist(0, -90.0)
+	self.publish_twist(3, 0.0)
+	self.publish_twist(0, -180.0)
+	self.publish_twist(6, 0.0)
+
 
 
 def main(args=None):
@@ -32,4 +44,5 @@ def main(args=None):
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()
+