Calibrate panda Y and Z encoder values before panda grid scan

src/mx_bluesky/hyperion/device_setup_plans/setup_panda.py

@@ -7,6 +7,7 @@
 from bluesky.utils import MsgGenerator
 from dodal.common.beamlines.beamline_utils import get_path_provider
 from dodal.devices.fast_grid_scan import PandAGridScanParams
+from dodal.devices.smargon import Smargon
 from ophyd_async.core import load_device
 from ophyd_async.fastcs.panda import (
     HDFPanda,
@@ -114,7 +115,7 @@ def _get_seq_table(
 def setup_panda_for_flyscan(
     panda: HDFPanda,
     parameters: PandAGridScanParams,
-    initial_x: float,
+    smargon: Smargon,
     exposure_time_s: float,
     time_between_x_steps_ms: float,
     sample_velocity_mm_per_s: float,
@@ -127,7 +128,7 @@ def setup_panda_for_flyscan(
     Args:
         panda (HDFPanda): The PandA Ophyd device
         parameters (PandAGridScanParams): Grid parameters
-        initial_x (float): Motor positions at time of PandA setup
+        initial_xyz (NDarray): Float motor positions at time of PandA setup
         exposure_time_s (float): Detector exposure time per trigger
         time_between_x_steps_ms (float): Time, in ms, between each trigger. Equal to deadtime + exposure time
         sample_velocity_mm_per_s (float): Velocity of the sample in mm/s = x_step_size_mm * 1000 /
@@ -149,13 +150,29 @@ def setup_panda_for_flyscan(
     ) as config_yaml_path:
         yield from load_device(panda, str(config_yaml_path))
 
-    # Home the PandA X encoder using current motor position
+    initial_x = yield from bps.rd(smargon.x.user_readback)
+    initial_y = yield from bps.rd(smargon.y.user_readback)
+    initial_z = yield from bps.rd(smargon.z.user_readback)
+
+    # Home the PandA X, Y, and Z encoders using current motor position
     yield from bps.abs_set(
         panda.inenc[1].setp,  # type: ignore
         initial_x * MM_TO_ENCODER_COUNTS,
         wait=True,
     )
 
+    yield from bps.abs_set(
+        panda.inenc[2].setp,  # type: ignore
+        initial_y * MM_TO_ENCODER_COUNTS,
+        wait=True,
+    )
+
+    yield from bps.abs_set(
+        panda.inenc[3].setp,  # type: ignore
+        initial_z * MM_TO_ENCODER_COUNTS,
+        wait=True,
+    )
+
     yield from bps.abs_set(panda.pulse[1].width, exposure_time_s, group="panda-config")
 
     exposure_distance_mm = sample_velocity_mm_per_s * exposure_time_s

src/mx_bluesky/hyperion/experiment_plans/flyscan_xray_centre_plan.py

@@ -524,7 +524,7 @@ def _panda_triggering_setup(
     yield from setup_panda_for_flyscan(
         fgs_composite.panda,
         parameters.panda_FGS_params,
-        initial_xyz[0],
+        fgs_composite.sample_motors,
         parameters.exposure_time_s,
         time_between_x_steps_ms,
         sample_velocity_mm_per_s,

tests/unit_tests/hyperion/device_setup_plans/test_setup_panda.py

@@ -8,6 +8,7 @@
 from bluesky.simulators import RunEngineSimulator, assert_message_and_return_remaining
 from dodal.common.types import UpdatingPathProvider
 from dodal.devices.fast_grid_scan import PandAGridScanParams
+from dodal.devices.smargon import Smargon
 from ophyd_async.fastcs.panda import HDFPanda, SeqTable, SeqTrigger
 
 from mx_bluesky.hyperion.device_setup_plans.setup_panda import (
@@ -26,6 +27,7 @@ def get_smargon_speed(x_step_size_mm: float, time_between_x_steps_ms: float) ->
 def run_simulating_setup_panda_functions(
     plan: str,
     panda: HDFPanda,
+    smargon: Smargon,
     sim_run_engine: RunEngineSimulator,
     mock_load_device=MagicMock,
 ):
@@ -49,7 +51,7 @@ def count_commands(msg):
             setup_panda_for_flyscan(
                 panda,
                 PandAGridScanParams(transmission_fraction=0.01),
-                1,
+                smargon,
                 0.1,
                 100.1,
                 smargon_speed,
@@ -62,13 +64,15 @@ def count_commands(msg):
 
 
 @patch("mx_bluesky.hyperion.device_setup_plans.setup_panda.load_device")
-def test_setup_panda_performs_correct_plans(mock_load_device, sim_run_engine, panda):
+def test_setup_panda_performs_correct_plans(
+    mock_load_device, sim_run_engine, panda, smargon
+):
     num_of_sets, num_of_waits = run_simulating_setup_panda_functions(
-        "setup", panda, sim_run_engine, mock_load_device
+        "setup", panda, smargon, sim_run_engine, mock_load_device
     )
     mock_load_device.assert_called_once()
-    assert num_of_sets == 8
-    assert num_of_waits == 3
+    assert num_of_sets == 10
+    assert num_of_waits == 5
 
 
 @pytest.mark.parametrize(
@@ -89,6 +93,7 @@ def test_setup_panda_correctly_configures_table(
     exposure_time_s: float,
     sim_run_engine: RunEngineSimulator,
     panda,
+    smargon,
 ):
     sample_velocity_mm_per_s = get_smargon_speed(x_step_size, time_between_x_steps_ms)
     params = PandAGridScanParams(
@@ -105,7 +110,7 @@ def test_setup_panda_correctly_configures_table(
         setup_panda_for_flyscan(
             panda,
             params,
-            0,
+            smargon,
             exposure_time_s,
             time_between_x_steps_ms,
             sample_velocity_mm_per_s,
@@ -183,7 +188,7 @@ def test_setup_panda_correctly_configures_table(
         )
 
 
-def test_wait_between_setting_table_and_arming_panda(RE: RunEngine, panda):
+def test_wait_between_setting_table_and_arming_panda(RE: RunEngine, panda, smargon):
     bps_wait_done = False
 
     def handle_wait(*args, **kwargs):
@@ -211,7 +216,7 @@ def assert_set_table_has_been_waited_on(*args, **kwargs):
             setup_panda_for_flyscan(
                 panda,
                 PandAGridScanParams(transmission_fraction=0.01),
-                1,
+                smargon,
                 0.1,
                 101.1,
                 get_smargon_speed(0.1, 1),
@@ -223,9 +228,9 @@ def assert_set_table_has_been_waited_on(*args, **kwargs):
 
 # It also would be useful to have some system tests which check that (at least)
 # all the blocks which were enabled on setup are also disabled on tidyup
-def test_disarm_panda_disables_correct_blocks(sim_run_engine, panda):
+def test_disarm_panda_disables_correct_blocks(sim_run_engine, panda, smargon):
     num_of_sets, num_of_waits = run_simulating_setup_panda_functions(
-        "disarm", panda, sim_run_engine
+        "disarm", panda, sim_run_engine, smargon
     )
     assert num_of_sets == 5
     assert num_of_waits == 1