diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..6be943d4309d4f32ec0454d74e910efb1153cd68 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -7,8 +7,8 @@ import math
 
 
 class RurMover(Node):
-    def __init__(self):
-        super().__init__('minimal_publisher')
+    def init(self):
+        super().init('minimal_publisher')
         self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
         self.main()
 
@@ -21,8 +21,15 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
-
+        self.publish_twist(0, 110.0)
+        self.publish_twist(4, 0.0)
+        self.publish_twist(0, 140.0)
+        self.publish_twist(4, 0.0)
+        self.publish_twist(0, 180.0)
+        self.publish_twist(2, 0.0)   
+        self.publish_twist(0, -68.0)
+        self.publish_twist(1.5, 0.0)
+        
 
 def main(args=None):
     rclpy.init(args=args)
@@ -31,5 +38,5 @@ def main(args=None):
     mover.destroy_node()
     rclpy.shutdown()
 
-if __name__ == '__main__':
+if __name__ == '_main_':
     main()
\ No newline at end of file