diff --git a/examples/plotter/__init__.py b/examples/plotter/__init__.py
index 929c766..3894107 100644
--- a/examples/plotter/__init__.py
+++ b/examples/plotter/__init__.py
@@ -1,10 +1,14 @@
 import logging
+import sys
+import time
 import traceback
 
 from pylgbst import MoveHub, BLEConnection
 from pylgbst.comms import DebugServerConnection
+from pylgbst.peripherals import EncodedMotor
 
 BASE_SPEED = 0.5
+CARET_WIDTH = -940
 
 
 class Plotter(MoveHub):
@@ -13,35 +17,53 @@ class Plotter(MoveHub):
         self.xpos = 0
         self.ypos = 0
         self.is_tool_down = False
+        self.__last_rotation_value = sys.maxsize
 
     def initialize(self):
-        # TODO: ensure caret is in the middle
+        self.motor_A.subscribe(self._on_rotate, mode=EncodedMotor.SENSOR_SPEED)
+        self.motor_A.constant(0.4)
+        count = 0
+        max_tries = 50
+        while self.__last_rotation_value > 5 and count < max_tries:
+            logging.info("Last rot: %s", self.__last_rotation_value)
+            time.sleep(5.0 / max_tries)
+            count += 1
+        logging.info("Tries: %s, last: %s", count, self.__last_rotation_value)
+        self.motor_A.unsubscribe(self._on_rotate)
+        self.motor_A.stop()
+        if count >= max_tries:
+            raise RuntimeError("Failed to center caret")
+        self.motor_A.angled(CARET_WIDTH, BASE_SPEED)
         self.xpos = 0
         self.ypos = 0
         self.is_tool_down = False
 
+    def _on_rotate(self, value):
+        logging.info("Rotation: %s", value)
+        self.__last_rotation_value = value
+
     def _tool_down(self):
-        self.motor_external.angled(270)
+        self.motor_external.angled(270, BASE_SPEED)
         self.is_tool_down = True
 
     def _tool_up(self):
-        self.motor_external.angled(-270)
+        self.motor_external.angled(-270, BASE_SPEED)
         self.is_tool_down = False
 
-    def move_to(self, movx, movy):
+    def move(self, movx, movy):
         if self.is_tool_down:
             self._tool_up()
         self._transfer_to(movx, movy)
 
-    def line_to(self, movx, movy):
+    def line(self, movx, movy):
         if not self.is_tool_down:
             self._tool_down()
         self._transfer_to(movx, movy)
 
     def _transfer_to(self, movx, movy):
-        angle = max(movy, movx)
+        angle = max(abs(movy), abs(movx))
         speed_a = BASE_SPEED
-        speed_b = BASE_SPEED * 1.5
+        speed_b = BASE_SPEED * 0.5
         self.motor_AB.angled(angle, speed_a, speed_b)
 
     def finalize(self):
@@ -53,15 +75,15 @@ if __name__ == '__main__':
     logging.basicConfig(level=logging.INFO)
 
     try:
-        connection = DebugServerConnection()
+        conn = DebugServerConnection()
     except BaseException:
         logging.warning("Failed to use debug server: %s", traceback.format_exc())
-        connection = BLEConnection().connect()
+        conn = BLEConnection().connect()
 
-    plotter = Plotter(connection)
+    plotter = Plotter(conn)
     plotter.initialize()
-    # plotter.move_to(100, 100)
-    # plotter.move_to(100, -100)
-    # plotter.move_to(-100, -100)
-    # plotter.move_to(-100, 100)
+    plotter.line(100, 100)
+    plotter.line(100, -100)
+    plotter.line(-100, -100)
+    plotter.line(-100, 100)
     plotter.finalize()