diff --git a/lesson_04/scythe.py b/lesson_04/scythe.py
new file mode 100644
index 0000000000000000000000000000000000000000..77d77665f84082c30022c79530ccbe10f296584e
--- /dev/null
+++ b/lesson_04/scythe.py
@@ -0,0 +1,69 @@
+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')
+        self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
+        self.main()
+
+    def publish_twist(self, linear, angular):
+        self.get_logger().info('Linear: "%d", angular: "%d"' % (linear, angular))
+        msg = Twist()
+        msg.linear.x = 3*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):
+
+        self.publish_twist(0, 135.0)
+        self.publish_twist(0.42650548, 0.0)
+        self.publish_twist(0, -90)
+        self.publish_twist(0.21, 0.0)
+        self.publish_twist(0, 124.316696)
+        self.publish_twist(0.20564764, 0)
+        self.publish_twist(0, 55.683304)
+        self.publish_twist(0.35, 0.0)
+        self.publish_twist(0, 90)
+        self.publish_twist(0.17281243, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(0.15, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(0.41, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(0.34557519, -90.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(0.45180456, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(0.06890828, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(0.35125432, 0.0)
+        self.publish_twist(0, -90.0)
+        self.publish_twist(0.47971564, 80.46666667)
+        self.publish_twist(0, -85.0)
+        self.publish_twist(0.2388776, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(0.10161725, 0.0)
+        self.publish_twist(0, 90.0)
+        self.publish_twist(0.22566679, 0.0)
+        self.publish_twist(0, -75.0)
+        self.publish_twist(0.84445198, 100.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(0.70389819, -110.0)
+
+
+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
diff --git a/lesson_04/mover.py b/lesson_04/square_1.py
similarity index 80%
rename from lesson_04/mover.py
rename to lesson_04/square_1.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..3bb992c32685c41bca764f874e355513c3a3d3fd 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/square_1.py
@@ -4,6 +4,7 @@ from rclpy.duration import Duration
 
 from geometry_msgs.msg import Twist
 import math
+from time import sleep
 
 
 class RurMover(Node):
@@ -18,18 +19,23 @@ class RurMover(Node):
         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=0.99875))
 
     def main(self):
-        pass
+        while True:
+            self.publish_twist(1, 0)
+            self.publish_twist(0, 90)
 
 
 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()
diff --git a/lesson_04/step_2.py b/lesson_04/step_2.py
index b62db7a20aa26c4a5d02c4adc2a304be38e5b06c..8647e3f45220845323195d9b16b52be28c8f8019 100644
--- a/lesson_04/step_2.py
+++ b/lesson_04/step_2.py
@@ -3,7 +3,6 @@ from rclpy.node import Node
 
 from geometry_msgs.msg import Twist
 
-
 class RurMover(Node):
     def __init__(self):
         super().__init__('rur_mover')
diff --git "a/\320\237\321\200\320\265\320\264\320\277\320\276\320\273\320\276\320\266\320\265\320\275\320\270\320\265.txt" "b/\320\237\321\200\320\265\320\264\320\277\320\276\320\273\320\276\320\266\320\265\320\275\320\270\320\265.txt"
new file mode 100644
index 0000000000000000000000000000000000000000..9f16007b2e6700dfbca4993e725f220c45b43d99
--- /dev/null
+++ "b/\320\237\321\200\320\265\320\264\320\277\320\276\320\273\320\276\320\266\320\265\320\275\320\270\320\265.txt"
@@ -0,0 +1,5 @@
+Погрешность, судя по всему, связана с отсчётом времени.
+В документации к turtlesim указано, что действие выполняется в течение 1 секунды 
+с заданной линейной и угловой скоростью, однако фактически это время несколько больше,
+что приводит к соответственно большим значениям линейных и угловых перемещений.
+На мой взгляд, решение проблемы продано заключаться в добавлении обратной связи между нодами