diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..b336b919e848a57e575d57778ea20cb2b9ebb7db 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -21,15 +21,25 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+            self.publish_twist(0, 70.0)
+            self.publish_twist(5, 0.0)
+            self.publish_twist(0, -150.0)
+            self.publish_twist(5, 0.0)
+            self.publish_twist(0, -180.0)
+            self.publish_twist(3, 0.0)
+            self.publish_twist(0, 80.0)
+            self.publish_twist(1, 0.0)
 
 
 def main(args=None):
     rclpy.init(args=args)
+
     mover = RurMover()
+
     rclpy.spin(mover)
+
     mover.destroy_node()
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()