Correctly set run up distance

src/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -151,6 +151,7 @@ def detect_grid_and_do_gridscan(
         composite.oav.parameters,
         experiment_params.exposure_time,
         experiment_params.set_stub_offsets,
+        experiment_params.run_up_distance_mm,
     )
 
     @bpp.subs_decorator([oav_callback, grid_params_callback])

src/hyperion/experiment_plans/panda_flyscan_xray_centre_plan.py

@@ -188,6 +188,12 @@ def run_gridscan_and_move(
 
     LOGGER.info("Setting up Panda for flyscan")
 
+    assert isinstance(parameters.experiment_params, PandAGridScanParams)
+
+    run_up_distance_mm = yield from bps.rd(
+        fgs_composite.panda_fast_grid_scan.run_up_distance
+    )
+
     # Set the time between x steps pv
     DEADTIME_S = 1e-6  # according to https://www.dectris.com/en/detectors/x-ray-detectors/eiger2/eiger2-for-synchrotrons/eiger2-x/
 
@@ -210,15 +216,15 @@ def run_gridscan_and_move(
                                           {sample_velocity_mm_per_s}. The smargon's speed limit is {smargon_speed_limit_mm_per_s} mm/s."
         )
     else:
-        LOGGER.info(f"Smargon speed set to {smargon_speed_limit_mm_per_s} mm/s")
+        LOGGER.info(
+            f"Panda grid scan: Smargon speed set to {smargon_speed_limit_mm_per_s} mm/s and using a run-up distance of {run_up_distance_mm}"
+        )
 
     yield from bps.mv(
         fgs_composite.panda_fast_grid_scan.time_between_x_steps_ms,
         time_between_x_steps_ms,
     )
 
-    assert isinstance(parameters.experiment_params, PandAGridScanParams)
-
     yield from setup_panda_for_flyscan(
         fgs_composite.panda,
         PANDA_SETUP_PATH,

src/hyperion/external_interaction/callbacks/grid_detection_callback.py

@@ -15,12 +15,14 @@ def __init__(
         oav_params: OAVConfigParams,
         exposure_time: float,
         set_stub_offsets: bool,
+        run_up_distance_mm: float,
         *args,
     ) -> None:
         super().__init__(*args)
         self.exposure_time = exposure_time
         self.set_stub_offsets = set_stub_offsets
         self.oav_params = oav_params
+        self.run_up_distance_mm: float = run_up_distance_mm
         self.start_positions: list = []
         self.box_numbers: list = []
 
@@ -78,6 +80,7 @@ def get_grid_parameters(self) -> GridScanParams:
 
     def get_panda_grid_parameters(self) -> PandAGridScanParams:
         return PandAGridScanParams(
+            run_up_distance_mm=self.run_up_distance_mm,
             x_start=self.start_positions[0][0],
             y1_start=self.start_positions[0][1],
             y2_start=self.start_positions[0][1],

src/hyperion/parameters/plan_specific/grid_scan_with_edge_detect_params.py

@@ -37,6 +37,9 @@ class GridScanWithEdgeDetectParams(AbstractExperimentParameterBase):
     # Whether to set the stub offsets after centering
     set_stub_offsets: bool = False
 
+    # Distance for the smargon to accelerate into the grid and decelerate out of the grid when using the panda
+    run_up_distance_mm: float = 0.15
+
     use_panda: bool = False
 
     def get_num_images(self):

src/hyperion/parameters/plan_specific/pin_centre_then_xray_centre_params.py

@@ -46,6 +46,9 @@ class PinCentreThenXrayCentreParams(AbstractExperimentParameterBase):
     # plugin
     use_ophyd_pin_tip_detect: bool = False
 
+    # Distance for the smargon to accelerate into the grid and decelerate out of the grid when using the panda
+    run_up_distance_mm: float = 0.15
+
     # Use constant motion panda scans instead of fast grid scans
     use_panda: bool = False
 

src/hyperion/parameters/plan_specific/wait_for_robot_load_then_center_params.py

@@ -45,6 +45,11 @@ class WaitForRobotLoadThenCentreParams(AbstractExperimentParameterBase):
     omega_start: float
     snapshot_dir: str
     requested_energy_kev: Optional[float] = None
+
+    # Distance for the smargon to accelerate into the grid and decelerate out of the grid when using the panda
+    run_up_distance_mm: float = 0.15
+
+    # Use constant motion panda scans instead of fast grid scans
     use_panda: bool = False
 
     # Whether to use the ophyd device for tip centring rather than the area detector

tests/unit_tests/experiment_plans/test_grid_detection_plan.py

@@ -153,7 +153,7 @@ def test_given_when_grid_detect_then_upper_left_and_start_position_as_expected(
     box_size_y_pixels = box_size_microns / composite.oav.parameters.micronsPerYPixel
 
     oav_cb = OavSnapshotCallback()
-    grid_param_cb = GridDetectionCallback(composite.oav.parameters, 0.004, False)
+    grid_param_cb = GridDetectionCallback(composite.oav.parameters, 0.004, False, 0.15)
     RE.subscribe(oav_cb)
     RE.subscribe(grid_param_cb)
     RE(
@@ -225,7 +225,7 @@ def test_when_grid_detection_plan_run_then_grid_detection_callback_gets_correct_
     params = OAVParameters("loopCentring", test_config_files["oav_config_json"])
     composite, _ = fake_devices
     box_size_microns = 20
-    cb = GridDetectionCallback(composite.oav.parameters, 0.5, True)
+    cb = GridDetectionCallback(composite.oav.parameters, 0.5, True, 0.15)
     RE.subscribe(cb)
 
     RE(