Add optional speed parameter to Lua API

docs/celery_script/assert expressions.md

@@ -86,6 +86,10 @@ return check_position({x = 1.0, y = 0; z = 0}, 0.50);
 move_absolute(20, 100, 100);
 return check_position(coordinate(20, 100, 100), 1);
 
+-- With a speed param. Should be a percent 0-100
+move_absolute(100.6, 200, 0, 100);
+return check_position(coordinate(100.6, 200, 0), 1);
+
 -- read_status(arg0)
 --    Get a field on farmbot's current state
 

farmbot_os/lib/farmbot_os/lua/ext/firmware.ex

@@ -53,7 +53,12 @@ defmodule FarmbotOS.Lua.Ext.Firmware do
 
   @doc "Moves in a straight line to a location"
   def move_absolute([x, y, z], lua) when is_number(x) and is_number(y) and is_number(z) do
-    case SysCalls.move_absolute(x, y, z, 100) do
+    move_absolute([x, y, z, 100], lua)
+  end
+
+  def move_absolute([x, y, z, speed], lua)
+      when is_number(x) and is_number(y) and is_number(z) and is_number(speed) do
+    case SysCalls.move_absolute(x, y, z, speed) do
       :ok ->
         {[true], lua}
 
@@ -63,6 +68,10 @@ defmodule FarmbotOS.Lua.Ext.Firmware do
   end
 
   def move_absolute([table], lua) when is_list(table) do
+    move_absolute([table, 100], lua)
+  end
+
+  def move_absolute([table, speed], lua) when is_list(table) and is_number(speed) do
     axis_finder = fn
       axis, {axis, nil} -> apply(SysCalls, :"get_current_#{axis}", [])
       axis, {axis, value} -> value
@@ -72,7 +81,7 @@ defmodule FarmbotOS.Lua.Ext.Firmware do
     x = Enum.find_value(table, &axis_finder.("x", &1))
     y = Enum.find_value(table, &axis_finder.("y", &1))
     z = Enum.find_value(table, &axis_finder.("z", &1))
-    move_absolute([x, y, z], lua)
+    move_absolute([x, y, z, speed], lua)
   end
 
   @doc """