diff --git a/controlsActions.pde b/controlsActions.pde
index 7cc2001..8bca736 100644
--- a/controlsActions.pde
+++ b/controlsActions.pde
@@ -350,9 +350,9 @@ void button_mode_clearQueue()
 {
   resetQueue();
 }
-void button_mode_setPositionHome()
+void button_mode_autoCalibrate()
 {
-  sendSetHomePosition();
+  sendCalibrate();
 }
 void button_mode_drawTestPenWidth()
 {
diff --git a/controlsActionsWindows.pde b/controlsActionsWindows.pde
index 3bf771d..b59e450 100644
--- a/controlsActionsWindows.pde
+++ b/controlsActionsWindows.pde
@@ -34,7 +34,7 @@
 
 void button_mode_serialPortDialog()
 {
-  ControlWindow serialPortWindow = cp5.addControlWindow("changeSerialPortWindow",100,100,150,150);
+  ControlWindow serialPortWindow = cp5.addControlWindow("changeSerialPortWindow",100,100,150,350);
   serialPortWindow.hideCoordinates();
   
   serialPortWindow.setBackground(getBackgroundColour());
diff --git a/controlsSetup.pde b/controlsSetup.pde
index 67d9f1f..097496b 100644
--- a/controlsSetup.pde
+++ b/controlsSetup.pde
@@ -656,7 +656,7 @@ List<String> getControlNamesForInputPanel()
 {
   List<String> controlNames = new ArrayList<String>();
   controlNames.add(MODE_CLEAR_QUEUE);
-  controlNames.add(MODE_SET_POSITION_HOME);
+  controlNames.add(MODE_AUTO_CALIBRATE);
   controlNames.add(MODE_SET_POSITION);
   controlNames.add(MODE_DRAW_TO_POSITION);
   controlNames.add(MODE_DRAW_DIRECT);
@@ -838,7 +838,7 @@ Map<String, String> buildControlLabels()
   result.put(MODE_DRAW_TESTPATTERN, "test pattern");
   result.put(MODE_PLACE_IMAGE, "place image");
   result.put(MODE_LOAD_IMAGE, "Load image file");
-  result.put(MODE_SET_POSITION_HOME, "Set home");
+  result.put(MODE_AUTO_CALIBRATE, "Calibrate");
   result.put(MODE_RETURN_TO_HOME, "Return to home");
   result.put(MODE_INPUT_SINGLE_PIXEL, "Choose pixel");
   result.put(MODE_DRAW_TEST_PENWIDTH, "Test pen widths");
@@ -954,8 +954,6 @@ Map<String, String> buildControlLabels()
   result.put(MODE_FLIP_WEBCAM_INPUT, "Flip video");
   result.put(MODE_ROTATE_WEBCAM_INPUT, "Rotate webcam");
 
-  
-
   return result;
 }
 
@@ -984,7 +982,7 @@ Set<String> buildControlNames()
   result.add(MODE_DRAW_TESTPATTERN);
   result.add(MODE_PLACE_IMAGE);
   result.add(MODE_LOAD_IMAGE);
-  result.add(MODE_SET_POSITION_HOME);
+  result.add(MODE_AUTO_CALIBRATE);
   result.add(MODE_RETURN_TO_HOME);
   result.add(MODE_INPUT_SINGLE_PIXEL);
   result.add(MODE_DRAW_TEST_PENWIDTH);
@@ -1094,7 +1092,6 @@ Set<String> buildControlNames()
   result.add(MODE_SHOW_WEBCAM_RAW_VIDEO);
   result.add(MODE_FLIP_WEBCAM_INPUT);
   result.add(MODE_ROTATE_WEBCAM_INPUT);
-
   
   return result;
 }
diff --git a/drawing.pde b/drawing.pde
index 13ec7b1..e89ea3a 100644
--- a/drawing.pde
+++ b/drawing.pde
@@ -72,6 +72,7 @@ static final String CMD_DRAW_NORWEGIAN_OUTLINE = "C44,";
 static final String CMD_SETPENLIFTRANGE = "C45,";
 static final String CMD_SELECT_ROVE_SOURCE_IMAGE = "C46";
 static final String CMD_RENDER_ROVE = "C47";
+static final String CMD_AUTO_CALIBRATE = "C48";
 
 static final int PATH_SORT_NONE = 0;
 static final int PATH_SORT_MOST_POINTS_FIRST = 1;
@@ -160,8 +161,10 @@ void sendMoveToPosition(boolean direct, PVector position)
 {
   String command = null;
   PVector p = getDisplayMachine().scaleToDisplayMachine(position);
-  p = getDisplayMachine().inSteps(p);
-  p = getDisplayMachine().asNativeCoords(p);
+  if (!cartesianOutput) {
+    p = getDisplayMachine().inSteps(p);
+    p = getDisplayMachine().asNativeCoords(p);
+  }
   sendMoveToNativePosition(direct, p);
 }
 
@@ -184,7 +187,10 @@ int getMaxSegmentLength()
 
 void sendTestPattern()
 {
-  String command = CMD_DRAWDIRECTIONTEST+int(gridSize)+",6,END";
+  float gSize = gridSize;
+  if (cartesianOutput)
+    gSize = getDisplayMachine().inMM(int(gridSize));
+  String command = CMD_DRAWDIRECTIONTEST+int(gSize)+",6,END";
   addToCommandQueue(command);
 }
 
@@ -209,8 +215,11 @@ void sendTestPenWidth()
 void sendSetPosition()
 {
   PVector p = getDisplayMachine().scaleToDisplayMachine(getMouseVector());
-  p = getDisplayMachine().convertToNative(p);
-  p = getDisplayMachine().inSteps(p);
+  if (!cartesianOutput) {
+    p = getDisplayMachine().convertToNative(p);
+    p = getDisplayMachine().inSteps(p);
+  }
+  print(p);
 
   String command = CMD_SETPOSITION+int(p.x+0.5)+","+int(p.y+0.5)+",END";
   addToCommandQueue(command);
@@ -228,11 +237,17 @@ void sendStartTextAtPoint()
 
 void sendSetHomePosition()
 {
-  PVector pgCoords = getDisplayMachine().asNativeCoords(getHomePoint());
+  PVector pgCoords;
+  if (cartesianOutput) pgCoords = getDisplayMachine().inMM(getHomePoint());
+  else pgCoords = getDisplayMachine().asNativeCoords(getHomePoint());
 
   String command = CMD_SETPOSITION+int(pgCoords.x+0.5)+","+int(pgCoords.y+0.5)+",END";
   addToCommandQueue(command);
 }
+void sendCalibrate()
+{
+  addToCommandQueue(CMD_AUTO_CALIBRATE+",END");
+}
 
 int scaleDensity(int inDens, int inMax, int outMax)
 {
@@ -892,10 +907,10 @@ List<PVector> filterPointsLowPass(RPoint[] points, long filterParam, float scali
     PVector p = new PVector(firstPoint.x, firstPoint.y);
     p = PVector.mult(p, scaling);
     p = PVector.add(p, position);
-    p = getDisplayMachine().inSteps(p);
-    if (getDisplayMachine().getPage().surrounds(p))
+//    p = getDisplayMachine().inSteps(p);
+    if (getDisplayMachine().getPage().surrounds(getDisplayMachine().inSteps(p)))
     {
-      p = getDisplayMachine().asNativeCoords(p);
+//      p = getDisplayMachine().asNativeCoords(p);
       scaled.add(p);
     }
   }
diff --git a/polargraphcontroller.pde b/polargraphcontroller_esf.pde
similarity index 99%
rename from polargraphcontroller.pde
rename to polargraphcontroller_esf.pde
index 4c0b441..408669a 100644
--- a/polargraphcontroller.pde
+++ b/polargraphcontroller_esf.pde
@@ -60,6 +60,7 @@ ControlP5 cp5;
 boolean drawbotReady = false;
 boolean drawbotConnected = false;
 
+boolean cartesianOutput = true;
 static final int HARDWARE_VER_UNO = 1;
 static final int HARDWARE_VER_MEGA = 100;
 static final int HARDWARE_VER_MEGA_POLARSHIELD = 200;
@@ -200,7 +201,7 @@ static final String MODE_PLACE_IMAGE = "button_mode_placeImage";
 static final String MODE_LOAD_IMAGE = "button_mode_loadImage";
 static final String MODE_PAUSE_QUEUE = "button_mode_pauseQueue";
 static final String MODE_RUN_QUEUE = "button_mode_runQueue";
-static final String MODE_SET_POSITION_HOME = "button_mode_setPositionHome";
+static final String MODE_AUTO_CALIBRATE = "button_mode_autoCalibrate";
 static final String MODE_RETURN_TO_HOME = "button_mode_returnToHome";
 static final String MODE_INPUT_SINGLE_PIXEL = "button_mode_inputSinglePixel";
 static final String MODE_DRAW_TEST_PENWIDTH = "button_mode_drawTestPenWidth";
@@ -324,7 +325,6 @@ static final String MODE_SHOW_WEBCAM_RAW_VIDEO = "toggle_mode_showWebcamRawVideo
 static final String MODE_FLIP_WEBCAM_INPUT = "toggle_mode_flipWebcam";
 static final String MODE_ROTATE_WEBCAM_INPUT = "toggle_mode_rotateWebcam";
 
-
 PVector statusTextPosition = new PVector(300.0, 12.0);
 
 static String currentMode = MODE_BEGIN;
@@ -575,6 +575,7 @@ void setup()
 
   addEventListeners();
 
+  noLoop();
   //gamepad_init();
 }
 void addEventListeners()
@@ -603,9 +604,7 @@ void addEventListeners()
 
 void preLoadCommandQueue()
 {
-  addToCommandQueue(CMD_CHANGEPENWIDTH+currentPenWidth+",END");
-  addToCommandQueue(CMD_SETMOTORSPEED+currentMachineMaxSpeed+",END");
-  addToCommandQueue(CMD_SETMOTORACCEL+currentMachineAccel+",END");
+  addToCommandQueue(CMD_AUTO_CALIBRATE+",END");
 }
 
 void windowResized()
@@ -949,13 +948,9 @@ void drawMoveImageOutline()
 void showCurrentMachinePosition()
 {
   noStroke();
-  fill(255,0,255,150);
-  PVector pgCoord = getDisplayMachine().scaleToScreen(currentMachinePos);
-  ellipse(pgCoord.x, pgCoord.y, 20, 20);
-
-  // also show cartesian position if reported
   fill(255,255,0,150);
-  ellipse(currentCartesianMachinePos.x, currentCartesianMachinePos.y, 15, 15);
+  PVector pgCoord = getDisplayMachine().scaleToScreen(currentCartesianMachinePos);
+  ellipse(pgCoord.x, pgCoord.y, 20, 20);
 
   noFill();
 }
@@ -2612,7 +2607,8 @@ void dispatchCommandQueue()
     }
     Checksum crc = new CRC32();
     crc.update(lastCommand.getBytes(), 0, lastCommand.length());
-    lastCommand = lastCommand+":"+crc.getValue();
+    lastCommand = lastCommand+";";
+//    lastCommand = lastCommand+":"+crc.getValue();
     println("Last command:" + lastCommand);
     myPort.write(lastCommand);
     drawbotReady = false;