diff --git a/src/spectroscopy_bluesky/i20_1/plans/__init__.py b/src/spectroscopy_bluesky/i20_1/plans/__init__.py
index cc38001..7d4d1b8 100644
--- a/src/spectroscopy_bluesky/i20_1/plans/__init__.py
+++ b/src/spectroscopy_bluesky/i20_1/plans/__init__.py
@@ -1,3 +1,11 @@
-from .direct_turbo_slit_movement import fly_scan_ts, fly_sweep, seq_non_linear
+from .direct_turbo_slit_movement import (
+    fly_scan_ts,
+    fly_sweep,
+    fly_sweep_both_ways,
+    seq_non_linear,
+    seq_table,
+    trajectory_fly_scan,
+)
 
-__all__ = ["fly_scan_ts", "fly_sweep", "seq_non_linear"]
+__all__ = ["fly_scan_ts", "fly_sweep", "fly_sweep_both_ways",
+           "seq_non_linear", "seq_table", "trajectory_fly_scan"]
diff --git a/src/spectroscopy_bluesky/i20_1/plans/direct_turbo_slit_movement.py b/src/spectroscopy_bluesky/i20_1/plans/direct_turbo_slit_movement.py
index 07b4e59..5c11d38 100644
--- a/src/spectroscopy_bluesky/i20_1/plans/direct_turbo_slit_movement.py
+++ b/src/spectroscopy_bluesky/i20_1/plans/direct_turbo_slit_movement.py
@@ -1,14 +1,16 @@
 import asyncio
 import math as mt
+from itertools import pairwise
 
 import bluesky.plan_stubs as bps
 import bluesky.preprocessors as bpp
 import numpy as np
 from aioca import caput
 from bluesky.utils import MsgGenerator
-from dodal.beamlines.i20_1 import turbo_slit
+from dodal.beamlines.i20_1 import turbo_slit_pmac
 from dodal.common.coordination import inject
 from dodal.plan_stubs.data_session import attach_data_session_metadata_decorator
+from numpy.typing import NDArray
 from ophyd_async.core import (
     DetectorTrigger,
     FlyMotorInfo,
@@ -17,9 +19,9 @@
     YamlSettingsProvider,
     wait_for_value,
 )
+from ophyd_async.epics.core import epics_signal_rw
 from ophyd_async.epics.motor import Motor
 from ophyd_async.epics.pmac import (
-    PmacIO,
     PmacTrajectoryTriggerLogic,
 )
 from ophyd_async.fastcs.panda import (
@@ -41,10 +43,32 @@
 )
 from scanspec.specs import Fly, Line
 
-PATH = "/dls/i20-1/data/2023/cm33897-5/bluesky/"
+from spectroscopy_bluesky.common.quantity_conversion import (
+    energy_to_bragg_angle,
+    si_111_lattice_spacing,
+)
 
+# Motor resolution used to conert between user position and motor encoder counts
 MRES = -1 / 10000
 
+# default offset count to be applied when converting user positions to encoder counts.
+ENCODER_OFFSET_COUNTS = 0
+
+
+def get_encoder_counts(user_position: float, offset=ENCODER_OFFSET_COUNTS) -> float:
+    """Convert from user position to motor encoder counts
+    (using MRES global variable).
+
+    Args:
+        user_position : user position
+        offset (optional): Count offset to be added after the conversion.
+            Defaults to ENCODER_OFFSET_COUNTS (=0).
+
+    Returns:
+        motor encoder counts
+    """
+    return user_position / MRES + offset
+
 
 class _StaticPcompTriggerLogic(StaticPcompTriggerLogic):
     """For controlling the PandA `PcompBlock` when flyscanning."""
@@ -73,7 +97,7 @@ def calculate_stuff(start, stop, num):
     width = (stop - start) / (num - 1)
     direction_of_sweep = (
         PandaPcompDirection.POSITIVE
-        if width / MRES > 0
+        if get_encoder_counts(width, 0) > 0
         else PandaPcompDirection.NEGATIVE
     )
 
@@ -81,8 +105,8 @@ def calculate_stuff(start, stop, num):
 
 
 def get_pcomp_info(width, start_pos, direction_of_sweep: PandaPcompDirection, num):
-    start_pos_pcomp = mt.floor(start_pos / MRES)
-    rising_edge_step = mt.ceil(abs(width / MRES))
+    start_pos_pcomp = mt.floor(get_encoder_counts(start_pos))
+    rising_edge_step = mt.ceil(abs(get_encoder_counts(width, 0)))
 
     panda_pcomp_info = PcompInfo(
         start_postion=start_pos_pcomp,
@@ -95,11 +119,28 @@ def get_pcomp_info(width, start_pos, direction_of_sweep: PandaPcompDirection, nu
     return panda_pcomp_info
 
 
+def setup_trajectory_scan_pvs(prefix: str = "BL20J-MO-STEP-06"):
+    """
+    Set PV values on trajectory scan controller needed for scan to work
+    (axis label to X, and profile name to PMAC6CS3)
+    """
+    cs_axis_label = epics_signal_rw(str, prefix + ":M4:CsAxis", name="cs_axis_label")
+    cs_profile_name = epics_signal_rw(
+        str, prefix + ":ProfileCsName", name="cs_profile_name"
+    )
+    yield from ensure_connected(cs_axis_label, cs_profile_name)
+
+    # set the CS axis label and profile names
+    yield from bps.mv(cs_axis_label, "X", cs_profile_name, "PMAC6CS3")
+    yield from bps.sleep(0.5)  # wait for the records to update
+
+
 def fly_scan_ts(
     start: int,
     stop: int,
     num: int,
     duration: float,
+    motor: Motor = inject("turbo_slit_x"),  # noqa: B008
     panda: HDFPanda = inject("panda"),  # noqa: B008
 ) -> MsgGenerator:
     panda_pcomp = StandardFlyer(StaticPcompTriggerLogic(panda.pcomp[1]))
@@ -108,7 +149,6 @@ def fly_scan_ts(
     @bpp.run_decorator()
     @bpp.stage_decorator([panda, panda_pcomp])
     def inner_plan():
-        motor = turbo_slit().xfine
         width = (stop - start) / (num - 1)
         start_pos = start - (width / 2)
         stop_pos = stop + (width / 2)
@@ -118,12 +158,12 @@ def inner_plan():
             time_for_move=num * duration,
         )
         panda_pcomp_info = PcompInfo(
-            start_postion=mt.ceil(start_pos / (MRES)),
+            start_postion=mt.ceil(get_encoder_counts(start_pos)),
             pulse_width=1,
-            rising_edge_step=mt.ceil(abs(width / MRES)),
+            rising_edge_step=mt.ceil(abs(get_encoder_counts(width, 0))),
             number_of_pulses=num,
             direction=PandaPcompDirection.POSITIVE
-            if width / MRES > 0
+            if get_encoder_counts(width) > 0
             else PandaPcompDirection.NEGATIVE,
         )
 
@@ -150,6 +190,7 @@ def fly_sweep(
     stop: float,
     num: int,
     duration: float,
+    motor: Motor = inject("turbo_slit_x"),  # noqa: B008
     panda: HDFPanda = inject("panda"),  # noqa: B008
     number_of_sweeps: int = 5,
     runup: float = 0.0,
@@ -174,7 +215,6 @@ def inner_squared_plan(start: float | int, stop: float | int):
 
         panda_pcomp_info = get_pcomp_info(width, start_pos, direction_of_sweep, num)
 
-        motor = turbo_slit().xfine
         # move motor to initial position
         yield from bps.prepare(motor, motor_info, wait=True)
 
@@ -219,6 +259,7 @@ def fly_sweep_both_ways(
     stop: float,
     num: int,
     duration: float,
+    motor: Motor = inject("turbo_slit_x"),  # noqa: B008
     panda: HDFPanda = inject("panda"),  # noqa: B008
     number_of_sweeps: int = 5,
 ) -> MsgGenerator:
@@ -233,8 +274,6 @@ def inner_squared_plan(start: float, stop: float, panda_pcomp: StandardFlyer):
             time_for_move=num * duration,
         )
 
-        motor = turbo_slit().xfine
-
         # move motor to initial position
         yield from bps.prepare(motor, motor_info, wait=True)
 
@@ -267,7 +306,6 @@ def inner_plan():
             time_for_move=num * duration,
         )
 
-        motor = turbo_slit().xfine
         yield from bps.prepare(motor, motor_info, wait=True)
 
         # prepare both pcomps
@@ -305,6 +343,7 @@ def trajectory_fly_scan(
     stop: float,
     num: int,
     duration: float,
+    motor: Motor = inject("turbo_slit_x"),  # noqa: B008
     panda: HDFPanda = inject("panda"),  # noqa: B008
     restore: bool = False,
 ) -> MsgGenerator:
@@ -314,13 +353,12 @@ def trajectory_fly_scan(
 
     panda_pcomp1 = StandardFlyer(_StaticPcompTriggerLogic(panda.pcomp[1]))
     panda_pcomp2 = StandardFlyer(_StaticPcompTriggerLogic(panda.pcomp[2]))
-    motor = Motor(prefix="BL20J-OP-PCHRO-01:TS:XFINE", name="X")
-    pmac = PmacIO(
-        prefix="BL20J-MO-STEP-06:", raw_motors=[motor], coord_nums=[3], name="pmac"
-    )
+    pmac = turbo_slit_pmac()
 
     yield from ensure_connected(pmac, motor)
 
+    yield from setup_trajectory_scan_pvs()
+
     spec = Fly(float(duration) @ (Line(motor, start, stop, num)))
 
     trigger_logic = spec
@@ -368,160 +406,125 @@ def inner_plan():
 def seq_table(
     start: float,
     stop: float,
-    num: int,
+    num_readouts: int,
     duration: float,
+    motor: Motor = inject("turbo_slit_x"),  # noqa: B008
     panda: HDFPanda = inject("panda"),  # noqa: B008
     number_of_sweeps: int = 3,
     restore: bool = False,
-):
-    # Start the plan by loading the saved design for this scan
-    if restore:
-        yield from plan_restore_settings(panda=panda, name="seq_table")
-
-    # Defining the flyers and components of the scan
-    panda_seq = StandardFlyer(StaticSeqTableTriggerLogic(panda.seq[1]))
-    motor = Motor(prefix="BL20J-OP-PCHRO-01:TS:XFINE", name="X")
-    pmac = PmacIO(
-        prefix="BL20J-MO-STEP-06:", raw_motors=[motor], coord_nums=[3], name="pmac"
-    )
-    yield from ensure_connected(pmac, motor)
-
-    # Prepare Panda trigger info using sequencer table
-    direction = SeqTrigger.POSA_GT
-    if start < stop:
-        direction = SeqTrigger.POSA_LT
-
+) -> MsgGenerator:
     # Prepare motor info using trajectory scanning
-    spec = Fly(duration @ (number_of_sweeps * ~Line(motor, start, stop, num)))
+    spec = Fly(duration @ (number_of_sweeps * ~Line(motor, start, stop, num_readouts)))
 
-    positions = [(x / MRES).astype(int) for x in spec.frames().lower[motor]]
+    positions = spec.frames().lower[motor]
 
-    direction = [
-        SeqTrigger.POSA_GT if a * MRES < b * MRES else SeqTrigger.POSA_LT
-        for a, b in zip(
-            spec.frames().lower[motor], spec.frames().upper[motor], strict=True
-        )
-    ]
+    # Sequence table has position triggers for one back-and-forth sweep.
+    # Use multiple repetitions of sequence table to capture subsequent sweeps.
+    num_repeats = 1
+    if number_of_sweeps > 2:
+        positions = positions[: 2 * num_readouts]
+        num_repeats = mt.ceil(number_of_sweeps / 2)
 
-    table = SeqTable()  # type: ignore
-    counter = 0
-    for d, p in zip(direction, positions, strict=False):
-        table += SeqTable.row(
-            repeats=1,
-            trigger=d,
-            position=p,
-            time1=int(duration / 1e-6) - 1,
-            outa1=True,
-            time2=1,
-            outa2=False,
-        )
-
-        counter += 1
-
-    seq_table_info = SeqTableInfo(sequence_table=table, repeats=1, prescale_as_us=1)
+    table = create_seqtable(positions, time1=1, outa1=True, time2=1, outa2=False)
 
-    trigger_logic = spec
-    pmac_trajectory = PmacTrajectoryTriggerLogic(pmac)
-    pmac_trajectory_flyer = StandardFlyer(pmac_trajectory)
-
-    # Prepare Panda file writer trigger info
-    panda_hdf_info = TriggerInfo(
-        number_of_events=len(positions),
-        trigger=DetectorTrigger.CONSTANT_GATE,
-        livetime=duration,
-        deadtime=1e-5,
+    seq_table_info = SeqTableInfo(
+        sequence_table=table, repeats=num_repeats, prescale_as_us=1
     )
 
-    @attach_data_session_metadata_decorator()
-    @bpp.run_decorator()
-    @bpp.stage_decorator([panda, panda_seq])
-    def inner_plan():
-        # Prepare pmac with the trajectory
-        yield from bps.prepare(pmac_trajectory_flyer, trigger_logic, wait=True)
-        # prepare sequencer table
-        yield from bps.prepare(panda_seq, seq_table_info, wait=True)
-        # prepare panda and hdf writer once, at start of scan
-        yield from bps.prepare(panda, panda_hdf_info, wait=True)
-
-        # kickoff devices waiting for all of them
-        yield from bps.kickoff(panda, wait=True)
-        yield from bps.kickoff(panda_seq, wait=True)
-        yield from bps.kickoff(pmac_trajectory_flyer, wait=True)
-
-        yield from bps.complete_all(pmac_trajectory_flyer, panda_seq, panda, wait=True)
-
-    yield from inner_plan()
-
-
-def Si111_energies_to_Bragg(energy_array):
-    angles = np.degrees(np.arcsin(1977.59 / np.asarray(energy_array)))
-    return angles
+    yield from seq_table_scan(
+        spec, seq_table_info, motor=motor, panda=panda, restore=restore
+    )
 
 
+# run_plan("seq_non_linear", ei=6000.0, ef=10000.0, de=100.0, duration=0.1)
 def seq_non_linear(
     ei: float,
     ef: float,
     de: float,
     duration: float,
-    panda: HDFPanda = inject("panda"),  # noqa: B008)
+    motor: Motor = inject("turbo_slit_x"),  # noqa: B008
+    panda: HDFPanda = inject("panda"),  # noqa: B008
     restore: bool = False,
-):
+) -> MsgGenerator:
     # Start the plan by loading the saved design for this scan
-    if restore:
-        yield from plan_restore_settings(panda=panda, name="seq_table")
-
-    # Defining the flyers and components of the scan
-    panda_seq = StandardFlyer(StaticSeqTableTriggerLogic(panda.seq[1]))
-    motor = Motor(prefix="BL20J-OP-PCHRO-01:TS:XFINE", name="X")
-    pmac = PmacIO(
-        prefix="BL20J-MO-STEP-06:", raw_motors=[motor], coord_nums=[3], name="pmac"
-    )
-    yield from ensure_connected(pmac, motor, panda)
 
     energies = np.arange(ei, ef + de, de)  # include Ef as last point in the array
     print(f"param\nEi = {ei}, Ef = {ef}, dE = {de}\n")
 
-    angle = Si111_energies_to_Bragg(energies)
-    energies = np.arange(ei, ef + de, de)
+    angle = energy_to_bragg_angle(si_111_lattice_spacing, energies)
 
     # Prepare motor info using trajectory scanning
-    spec = Fly(float(duration) @ (Line(motor, angle[0], angle[-1], len(angle))))
-    positions = [(x / MRES).astype(int) for x in angle]
+    spec = Fly(duration @ (Line(motor, angle[0], angle[-1], len(angle))))
+
+    table = create_seqtable(
+        angle, time1=1, time2=1, outa1=True, outb1=True, outa2=False, outb2=True
+    )
+    seq_table_info = SeqTableInfo(sequence_table=table, repeats=1, prescale_as_us=1)
 
+    yield from seq_table_scan(spec, seq_table_info, motor, panda, restore=restore)
+
+
+def create_seqtable(positions: NDArray, **kwargs) -> SeqTable:
+    """
+    Create SeqTable with rows setup to do position based triggering.
+
+    <li> Each position in positions NDArray is converted to a row of the sequence table.
+    <li> Position values are converted to encoder counts using
+        'get_encoder_counts' function.
+    <li> SeqTrigger direction set to GT or LT depending on when encoder values
+        increase or decrease.
+
+    :param positions: positions in user coordinates.
+    :param kwargs: additional kwargs to be used when generating each
+    row of sequence table (e.g. for setting trigger outputs, trigger length etc.)
+    :return: SeqTable
+    """
+
+    # convert user positions to encoder positions
+    enc_count_positions = [get_encoder_counts(x).astype(int) for x in positions]
+
+    # determine direction of each segment
     direction = [
-        SeqTrigger.POSA_GT if a * MRES < b * MRES else SeqTrigger.POSA_LT
-        for a, b in zip(
-            spec.frames().lower[motor], spec.frames().upper[motor], strict=True
-        )
+        SeqTrigger.POSA_GT if current < next else SeqTrigger.POSA_LT
+        for current, next in pairwise(enc_count_positions)
     ]
+    direction.append(direction[-1])
 
-    table = SeqTable()  # type: ignore
-    for d, p in zip(direction, positions, strict=True):
-        table += SeqTable.row(
-            repeats=1,
-            trigger=d,
-            position=p,
-            time1=1,
-            outa1=True,
-            outb1=True,
-            time2=1,
-            outa2=False,
-            outb2=True,
-        )
+    table = SeqTable()
+    for d, p in zip(direction, enc_count_positions, strict=True):
+        table += SeqTable.row(repeats=1, trigger=d, position=p, **kwargs)
+    return table
 
-        # counter += 1
 
-    seq_table_info = SeqTableInfo(sequence_table=table, repeats=1, prescale_as_us=1)
+def seq_table_scan(
+    scan_spec: Fly,
+    seq_table_info: SeqTableInfo,
+    motor: Motor,
+    panda: HDFPanda,
+    restore: bool = False,
+) -> MsgGenerator:
+    if restore:
+        yield from plan_restore_settings(panda=panda, name="seq_table")
+
+    pmac = turbo_slit_pmac()
+
+    yield from ensure_connected(pmac, motor, panda)
+
+    yield from setup_trajectory_scan_pvs()
+
+    # Defining the flyers and components of the scan
+    panda_seq = StandardFlyer(StaticSeqTableTriggerLogic(panda.seq[1]))
 
-    trigger_logic = spec
     pmac_trajectory = PmacTrajectoryTriggerLogic(pmac)
     pmac_trajectory_flyer = StandardFlyer(pmac_trajectory)
 
     # Prepare Panda file writer trigger info
     panda_hdf_info = TriggerInfo(
-        number_of_events=len(angle),
+        number_of_events=len(
+            seq_table_info.sequence_table
+        ),  # same as number of rows in sequence table
         trigger=DetectorTrigger.CONSTANT_GATE,
-        livetime=duration,
+        livetime=scan_spec.duration(),
         deadtime=1e-5,
     )
 
@@ -529,8 +532,10 @@ def seq_non_linear(
     @bpp.run_decorator()
     @bpp.stage_decorator([panda, panda_seq])
     def inner_plan():
+        yield from bps.declare_stream(panda, name="primary")
+
         # Prepare pmac with the trajectory
-        yield from bps.prepare(pmac_trajectory_flyer, trigger_logic, wait=True)
+        yield from bps.prepare(pmac_trajectory_flyer, scan_spec, wait=True)
         # prepare sequencer table
         yield from bps.prepare(panda_seq, seq_table_info, wait=True)
         # prepare panda and hdf writer once, at start of scan
@@ -542,6 +547,11 @@ def inner_plan():
         yield from bps.kickoff(pmac_trajectory_flyer, wait=True)
 
         yield from bps.complete_all(pmac_trajectory_flyer, panda_seq, panda, wait=True)
+        yield from bps.collect(
+            panda,
+            return_payload=True,
+            name="primary",
+        )
 
     yield from inner_plan()