# 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)