diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..e4c7fce70e531a0db13230081c2ace7ea4a6eb06 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -9,20 +9,26 @@ import math
 class RurMover(Node):
     def __init__(self):
         super().__init__('minimal_publisher')
+        super().__init__('rur_mover')
         self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
         self.main()
 
-    def publish_twist(self, linear, angular):
+def publish_twist(self, linear, angular):
         self.get_logger().info('Linear: "%d", angular: "%d"' % (linear, angular))
         msg = Twist()
         msg.linear.x = float(linear)
         msg.angular.z = math.radians(float(angular))
         self.publisher_twist.publish(msg)
         self.get_clock().sleep_for(Duration(seconds=1.0))
-
-    def main(self):
+    
+def main(self):
         pass
-
+        msg = Twist()
+        self.publish_twist(0, 90.0)
+        self.publish_twist(4, 0.0)
+        msg.linear.x = 5.0
+        msg.angular.z = -6.28
+        self.publisher_twist.publish(msg)
 
 def main(args=None):
     rclpy.init(args=args)
@@ -31,5 +37,6 @@ def main(args=None):
     mover.destroy_node()
     rclpy.shutdown()
 
+
 if __name__ == '__main__':
     main()
\ No newline at end of file