Drive to (`x_target_mm`, `y_target_mm`) coordinates at `speed`

def on_to_coordinates(self, speed, x_target_mm, y_target_mm, brake=True, block=True):
        """
        Drive to (`x_target_mm`, `y_target_mm`) coordinates at `speed`
        """
        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)