removes calls to self.set_speed() from driver

api/opentrons/drivers/smoothie_drivers/driver_3_0.py

@@ -872,8 +872,8 @@ def _home_x(self):
         log.debug("_home_x")
         # move the gantry forward on Y axis with low power
         self._save_current({'Y': Y_BACKOFF_LOW_CURRENT})
-        self.push_speed()
-        self.set_speed(Y_BACKOFF_SLOW_SPEED)
+        self.push_axis_max_speed()
+        self.set_axis_max_speed({'Y': Y_BACKOFF_SLOW_SPEED})
 
         # move away from the Y endstop switch, then backward half that distance
         relative_retract_command = '{0} {1}Y{2} {3}Y{4} {5}'.format(
@@ -888,13 +888,11 @@ def _home_x(self):
         command = '{0} {1}'.format(
             self._generate_current_command(), relative_retract_command)
         self._send_command(command, timeout=DEFAULT_MOVEMENT_TIMEOUT)
-        self.pop_speed()
         self.dwell_axes('Y')
 
         # now it is safe to home the X axis
         try:
             # override firmware's default XY homing speed, to avoid resonance
-            self.push_axis_max_speed()
             self.set_axis_max_speed({'X': XY_HOMING_SPEED})
             self.activate_axes('X')
             command = '{0} {1}'.format(

api/tests/opentrons/drivers/test_driver.py

@@ -212,9 +212,8 @@ def _parse_position_response(arg):
     expected = [
         ['M907 A0.8 B0.5 C0.5 X0.3 Y0.3 Z0.8 G4P0.005 G28.2.+[ABCZ].+ M400'],
         ['M907 A0.1 B0.05 C0.05 X0.3 Y0.3 Z0.1 G4P0.005 M400'],
-        ['G0F3000 M400'],
+        ['M203.1 Y50 M400'],
         ['M907 A0.1 B0.05 C0.05 X0.3 Y0.8 Z0.1 G4P0.005 G91 G0Y-28 G0Y10 G90 M400'],  # NOQA
-        ['G0F24000 M400'],
         ['M203.1 X80 M400'],
         ['M907 A0.1 B0.05 C0.05 X1.25 Y0.3 Z0.1 G4P0.005 G28.2X M400'],
         ['M203.1 A125 B50 C50 X600 Y400 Z125 M400'],