move_to_coordinate()

Description

This method drives Zumi from an origin to an x,y position in inches. Using this function will keep track of Zumi's coordinates. To reset the origin, use the reset_coordinate() function. This method uses a best fit linear approximation of the distance traveled over time. It uses the equation y = mx + b, where:

• y is the distance traveled
• m is the predicted speed in centimeters per second
• x is the time elapsed
• b is the slope intercept

Syntax

move_to_coordinate(desired_x, desired_y)

```<br />

##### Parameters

desired_x: The x-coordinate of the destination<br />

desired_y: The y-coordinate of the destination<br />

k_p: P-gain. Default to None.<br />

k_i: I-gain. Default to None.<br />

k_d: D-gain. Default to None.<br />

units: Defaults to "in" or inches. Set it to "cm" for centimeters.<br />

##### Returns

None

##### Example Code

###### Python Sample 1

```python

#Python code

from zumi.zumi import Zumi

zumi = Zumi()

# a square

zumi.move_to_coordinate(6,0)

zumi.move_to_coordinate(6,6)

zumi.move_to_coordinate(0,6)

zumi.move_to_coordinate(0,0)

Python Sample 2

#Python code

from zumi.zumi import Zumi

import time

zumi = Zumi()

# Avoid this

zumi.move_to_coordinate(10,0)

time.sleep(1)

# zumi wont drive the second time since its already at (10, 0)

zumi.move_to_coordinate(10,0)

Python Sample 3

#Python code

from zumi.zumi import Zumi

import time

zumi = Zumi()

# Avoid this

zumi.move_to_coordinate(10,0)

time.sleep(1)

zumi.reset_coordinate()

# zumi will drive the second time since its position will be reset, and will move a total of 20 inches from the start

zumi.move_to_coordinate(10,0)