diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..cf0de28cd77308986026fad49971df0598c3999a 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -1,14 +1,12 @@
 import rclpy
 from rclpy.node import Node
 from rclpy.duration import Duration
-
 from geometry_msgs.msg import Twist
 import math
 
-
 class RurMover(Node):
     def __init__(self):
-        super().__init__('minimal_publisher')
+        super().__init__('minimal_publisher') 
         self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
         self.main()
 
@@ -21,9 +19,15 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
-
-
+        self.publish_twist(0, 60.0)
+        self.publish_twist(4, 0.0) 
+        self.publish_twist(0, -120.0) 
+        self.publish_twist(4, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(2, 0.0) 
+        self.publish_twist(0, 60.0) 
+        self.publish_twist(2, 0.0) 
+        
 def main(args=None):
     rclpy.init(args=args)
     mover = RurMover()
@@ -32,4 +36,4 @@ def main(args=None):
     rclpy.shutdown()
 
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()