diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..b1993637dd3f1a29d5970bcda02470a65ffa4f8d 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -12,17 +12,17 @@ class RurMover(Node):
         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, sec=0.99):
         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))
+        self.get_clock().sleep_for(Duration(seconds=sec))
 
     def main(self):
-        pass
-
+        self.publish_twist(4, 180)
+        self.publish_twist(4, -180)
 
 def main(args=None):
     rclpy.init(args=args)