code: def on_to_coordinates(self, speed, x_target_mm, y_target_mm, brake=True, block=True):
          
          assert self.odometry_thread_id, "odometry_start() must be called to track robot coordinates"
  
          # stop moving
          self.off(brake='hold')
  
          # rotate in place so we are pointed straight at our target
          x_delta = x_target_mm - self.x_pos_mm
          y_delta = y_target_mm - self.y_pos_mm
          angle_target_radians = math.atan2(y_delta, x_delta)
          angle_target_degrees = math.degrees(angle_target_radians)
          self.turn_to_angle(speed, angle_target_degrees, brake=True, block=True)
  
          # drive in a straight line to the target coordinates
          distance_mm = math.sqrt(pow(self.x_pos_mm - x_target_mm, 2) + pow(self.y_pos_mm - y_target_mm, 2))
          self.on_for_distance(speed, distance_mm, brake, block)
docs: Drive to (`x_target_mm`, `y_target_mm`) coordinates at `speed`