Allow speed on a per axis basis like the fw expects

lib/farmbot/celery_script/ast/node/move_absolute.ex

@@ -11,7 +11,10 @@ defmodule Farmbot.CeleryScript.AST.Node.MoveAbsolute do
          {:ok, pos_b} <- ast_to_vec3(offset)
     do
       pos = vec3_math(pos_a, :+, pos_b)
-      case Farmbot.Firmware.move_absolute(pos, speed) do
+      speed_x = speed * (Farmbot.BotState.get_param(:movement_max_spd_x) || 1)
+      speed_y = speed * (Farmbot.BotState.get_param(:movement_max_spd_y) || 1)
+      speed_z = speed * (Farmbot.BotState.get_param(:movement_max_spd_z) || 1)
+      case Farmbot.Firmware.move_absolute(pos, speed_x, speed_y, speed_z) do
         :ok -> {:ok, env}
         {:error, reason} -> {:error, reason, env}
       end

lib/farmbot/firmware/firmware.ex

@@ -5,8 +5,8 @@ defmodule Farmbot.Firmware do
   use Farmbot.Logger
 
   @doc "Move the bot to a position."
-  def move_absolute(vec3, speed) do
-    GenStage.call(__MODULE__, {:move_absolute, [vec3, speed]}, :infinity)
+  def move_absolute(vec3, x_speed, y_speed, z_speed) do
+    GenStage.call(__MODULE__, {:move_absolute, [vec3, x_speed, y_speed, z_speed]}, :infinity)
   end
 
   @doc "Calibrate an axis."

lib/farmbot/firmware/handler.ex

@@ -36,7 +36,7 @@ defmodule Farmbot.Firmware.Handler do
   @type pin_mode :: :digital | :analog
 
   @doc "Move to a position."
-  @callback move_absolute(handler, vec3, speed) :: fw_ret_val
+  @callback move_absolute(handler, vec3, speed, speed, speed) :: fw_ret_val
 
   @doc "Calibrate an axis."
   @callback calibrate(handler, axis, speed) :: fw_ret_val

lib/farmbot/firmware/stub_handler.ex

@@ -14,8 +14,8 @@ defmodule Farmbot.Firmware.StubHandler do
     GenStage.start_link(__MODULE__, [])
   end
 
-  def move_absolute(handler, pos, speed) do
-    GenStage.call(handler, {:move_absolute, pos, speed})
+  def move_absolute(handler, pos, x_speed, y_speed, z_speed) do
+    GenStage.call(handler, {:move_absolute, pos, x_speed, y_speed, z_speed})
   end
 
   def calibrate(handler, axis, speed) do
@@ -97,7 +97,7 @@ defmodule Farmbot.Firmware.StubHandler do
     {:noreply, [:idle], state}
   end
 
-  def handle_call({:move_absolute, pos, _speed}, _from, state) do
+  def handle_call({:move_absolute, pos, _x_speed, _y_speed, _z_speed}, _from, state) do
     {:reply, :ok, [{:report_current_position, pos.x, pos.y, pos.z}, :done], %{state | pos: pos}}
   end
 

lib/farmbot/firmware/uart_handler/uart_handler.ex

@@ -12,8 +12,8 @@ defmodule Farmbot.Firmware.UartHandler do
     GenStage.start_link(__MODULE__, [])
   end
 
-  def move_absolute(handler, pos, speed) do
-    GenStage.call(handler, {:move_absolute, pos, speed})
+  def move_absolute(handler, pos, x_speed, y_speed, z_speed) do
+    GenStage.call(handler, {:move_absolute, pos, x_speed, y_speed, z_speed})
   end
 
   def calibrate(handler, axis, speed) do
@@ -204,8 +204,8 @@ defmodule Farmbot.Firmware.UartHandler do
     end
   end
 
-  def handle_call({:move_absolute, pos, speed}, _from, state) do
-    wrote = "G00 X#{pos.x} Y#{pos.y} Z#{pos.z} A#{speed} B#{speed} C#{speed}"
+  def handle_call({:move_absolute, pos, x_speed, y_speed, z_speed}, _from, state) do
+    wrote = "G00 X#{pos.x} Y#{pos.y} Z#{pos.z} A#{x_speed} B#{y_speed} C#{z_speed}"
     do_write(wrote, state)
   end