  Purpose: Fly scans are indispensible in many experiments at the High Energy
Photon Source (HEPS). PandABox, the main platform to implement fly scans at
HEPS, needs to be integrated into Mamba, the experiment control system
developed at HEPS based on Bluesky. Methods: In less than 600 lines of easily
customisable and extensible backend code, provided are full control of
PandABox's TCP server in native ophyd, automated configuration (also including
wiring) of "PandA blocks" for constant-speed mapping experiments of various
dimensions, as well as generation of scans deliberately fragmented to deal with
hardware limits in numbers of exposure frames or sequencer table entries.
Results: The upper-level control system for PandABox has been ported to
Bluesky, enabling the combination of both components' flexibility in fly-scan
applications. Based on this backend, a user-friendly Mamba frontend is
developed for X-ray fluorescence (XRF) mapping experiments, which provides
fully online visual feedback.
