diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..1f3cad68e2b21ed732dc3439d72e1754d5074a52 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -21,6 +21,12 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
+        self.publish_twist(0,90.0)
+        self.publish_twist(3.0,0.0)
+        self.publish_twist(0,90.0)
+        self.publish_twist(1.5,0.0)
+        self.publish_twist(0,180.0)
+        self.publish_twist(3.0,0.0)
         pass
 
 
@@ -32,4 +38,4 @@ def main(args=None):
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()