Update find_home to not take a speed arg

farmbot_celery_script/lib/farmbot_celery_script/compiler.ex

@@ -378,18 +378,18 @@ defmodule FarmbotCeleryScript.Compiler do
   end
 
   # Expands find_home(all) into three find_home/1 calls
-  compile :find_home, %{axis: "all", speed: speed} do
+  compile :find_home, %{axis: "all"} do
     quote location: :keep do
-      find_home("x", unquote(compile_ast(speed)))
-      find_home("y", unquote(compile_ast(speed)))
-      find_home("z", unquote(compile_ast(speed)))
+      find_home("x")
+      find_home("y")
+      find_home("z")
     end
   end
 
   # compiles find_home
-  compile :find_home, %{axis: axis, speed: speed} do
+  compile :find_home, %{axis: axis} do
     quote location: :keep do
-      find_home(unquote(compile_ast(axis)), unquote(compile_ast(speed)))
+      find_home(unquote(compile_ast(axis)))
     end
   end
 

farmbot_celery_script/lib/farmbot_celery_script/sys_calls.ex

@@ -37,7 +37,7 @@ defmodule FarmbotCeleryScript.SysCalls do
   @callback point(point_type, resource_id) :: coordinate | error
   @callback move_absolute(x :: axis_position, y :: axis_position, z :: axis_position, axis_speed) ::
               :ok | error
-  @callback find_home(axis, axis_speed) :: :ok | error
+  @callback find_home(axis) :: :ok | error
 
   @callback calibrate(axis) :: :ok | error
 
@@ -147,8 +147,8 @@ defmodule FarmbotCeleryScript.SysCalls do
     end
   end
 
-  def find_home(module \\ @sys_call_implementation, axis, speed) do
-    case module.find_home(axis, speed) do
+  def find_home(module \\ @sys_call_implementation, axis) do
+    case module.find_home(axis) do
       :ok -> :ok
       {:error, reason} when is_binary(reason) -> error(reason)
     end

farmbot_celery_script/test/farmbot_celery_script/sys_calls_test.exs

@@ -133,13 +133,13 @@ defmodule FarmbotCeleryScript.SysCallsTest do
 
   test "find_home", %{shim: shim} do
     :ok = shim_fun_ok(shim)
-    assert :ok = SysCalls.find_home(TestSysCalls, "x", 100)
-    assert_receive {:find_home, ["x", 100]}
+    assert :ok = SysCalls.find_home(TestSysCalls, "x")
+    assert_receive {:find_home, ["x"]}
 
     :ok = shim_fun_error(shim, "home lost")
 
     assert_raise RuntimeError, "home lost", fn ->
-      SysCalls.find_home(TestSysCalls, "x", 100)
+      SysCalls.find_home(TestSysCalls, "x")
     end
   end
 

farmbot_os/lib/farmbot_os/sys_calls.ex

@@ -64,6 +64,8 @@ defmodule FarmbotOS.SysCalls do
   end
 
   defp get_position(axis) do
+    axis = assert_axis!(axis)
+
     case FarmbotFirmware.request({nil, {:position_read, []}}) do
       {:ok, {_, {:report_position, params}}} ->
         Keyword.fetch!(params, axis)
@@ -86,15 +88,49 @@ defmodule FarmbotOS.SysCalls do
   end
 
   def calibrate(axis) do
+    axis = assert_axis!(axis)
+
     case FarmbotFirmware.command({:command_movement_calibrate, axis}) do
       :ok ->
         :ok
 
       {:error, reason} ->
-        {:error, reason}
+        {:error, "Firmware error: #{inspect(reason)}"}
     end
   end
 
+  def find_home(axis) do
+    axis = assert_axis!(axis)
+
+    case FarmbotFirmware.command({:command_movement_find_home, axis}) do
+      :ok ->
+        :ok
+
+      {:error, reason} ->
+        {:error, "Firmware error: #{inspect(reason)}"}
+    end
+  end
+
+  defp assert_axis!(axis) when is_atom(axis),
+    do: axis
+
+  defp assert_axis!(axis) when axis in ~w(x y z),
+    do: String.to_existing_atom(axis)
+
+  defp assert_axis!(axis) do
+    # {:error, "unknown axis #{axis}"}
+    raise("unknown axis #{axis}")
+  end
+
+  def wait(ms) do
+    Process.sleep(ms)
+    :ok
+  end
+
+  def named_pin(kind, id) do
+    {:error, "unknown pin kind: #{kind} of id: #{id}"}
+  end
+
   def get_sequence(id) do
     case Asset.get_sequence(id: id) do
       nil -> {:error, "sequence not found"}

test/support/celery_script/test_sys_calls.ex

@@ -92,8 +92,8 @@ defmodule Farmbot.TestSupport.CeleryScript.TestSysCalls do
   end
 
   @impl true
-  def find_home(axis, speed) do
-    call({:find_home, [axis, speed]})
+  def find_home(axis) do
+    call({:find_home, [axis]})
   end
 
   @impl true