diff --git a/python/port/mod/turtle/turtle.cpp b/python/port/mod/turtle/turtle.cpp
index 3a3499750..f7cd49c5c 100644
--- a/python/port/mod/turtle/turtle.cpp
+++ b/python/port/mod/turtle/turtle.cpp
@@ -76,16 +76,23 @@ void Turtle::circle(mp_int_t radius, mp_float_t angle) {
 bool Turtle::goTo(mp_float_t x, mp_float_t y) {
   mp_float_t oldx = m_x;
   mp_float_t oldy = m_y;
-  mp_float_t length = maxF(absF(floor(x) - floor(oldx)), absF(floor(y) - floor(oldy)));
+  mp_float_t xLength = absF(floor(x) - floor(oldx));
+  mp_float_t yLength = absF(floor(y) - floor(oldy));
+  bool principalDirectionIsX = xLength >= yLength;
+  mp_float_t length = principalDirectionIsX ? xLength : yLength;
 
   if (length > 1) {
     // Tweening function
     for (int i = 1; i < length; i++) {
       mp_float_t progress = i / length;
       erase();
-      if (dot(x * progress + oldx * (1 - progress), y * progress + oldy * (1 - progress))
-          || draw(false))
-      {
+      /* We make sure that each pixel along the principal direction is drawn. If
+       * the computation of the position on the principal coordinate is done
+       * using a barycenter, roundings might skip some pixels, which results in
+       * a dotted line. */
+      mp_float_t currentX = principalDirectionIsX ? oldx + (x > oldx ? i : -i) : x * progress + oldx * (1 - progress);
+      mp_float_t currentY = principalDirectionIsX ? y * progress + oldy * (1 - progress) : oldy + (y > oldy ? i : -i);
+      if (dot(currentX, currentY) || draw(false)) {
         // Keyboard interruption. Return now to let MicroPython process it.
         return true;
       }