   }
 
   else {
-    Serial.println("absMoveTo Error : Out of bound.");
-    Serial.print("stepCountX = ");
-    Serial.println(stepCountX);
-    Serial.print("stepCountY = ");
-    Serial.println(stepCountY);
-    Serial.println(coordType);
-    Serial.print("targetCoordX = ");
-    Serial.println(targetCoordX);
-    Serial.print("targetCoordYX = ");
-    Serial.println(targetCoordY);
-    Serial.println("targetCoordY = ");
-    Serial.println(targetCoordY);
-    Serial.print("targetStepsY = ");
-    Serial.println(targetStepsY);
+    mySerial.println("absMoveTo Error : Out of bound.");
+    mySerial.print("stepCountX = ");
+    mySerial.println(stepCountX);
+    mySerial.print("stepCountY = ");
+    mySerial.println(stepCountY);
+    mySerial.println(coordType);
+    mySerial.print("targetCoordX = ");
+    mySerial.println(targetCoordX);
+    mySerial.print("targetCoordYX = ");
+    mySerial.println(targetCoordY);
+    mySerial.println("targetCoordY = ");
+    mySerial.println(targetCoordY);
+    mySerial.print("targetStepsY = ");
+    mySerial.println(targetStepsY);
     movePen(UP);
-    absMoveTo(0, 0, PIXELS);
+    absMoveTo(0, 0, PIXELS); //return home
     return false;
   }
 
   if (isCompleted) {
-    Serial.print('\n');
-    Serial.println("- absMoveTo -");
-    Serial.print("stepCountX : ");
-    Serial.println(stepCountX);
-    Serial.print("stepCountY : ");
-    Serial.println(stepCountY);
-    //delay(toDelay);
+    mySerial.print('\n');
+    mySerial.println("- absMoveTo -");
+    mySerial.print("stepCountX : ");
+    mySerial.println(stepCountX);
+    mySerial.print("stepCountY : ");
+    mySerial.println(stepCountY);
     return true;
   }
   else {


bool relMoveTo(int targetPixelX, int targetPixelY) {

  if((targetPixelX == 0) || (targetPixelY == 0)) {
    return true;
  }

  int targetStepsX = convertToStepsX(targetPixelX);
  int targetStepsY = convertToStepsY(targetPixelY);

  if(absMoveTo((targetStepsX + stepCountX), (targetStepsY + stepCountY), STEPS)) { //add the coordinates
    return true;
  }
  else return false;

  //to draw

  else if (tempString.startsWith("G252")) {
    mySerial.println("G52 Received");
    String commandString = tempString; //make a copy of the command

    if(checkCommand(tempString)) {
