Fix i04 bugs

[jacob720]

Fixes #1704
Fixes XRC and beam centring bugs found in testing.

Link to dodal PR (if required): #XXX
(remember to update pyproject.toml with the dodal commit tag if you need it for tests to pass!)

Instructions to reviewer on how to test:

1. Do thing x
2. Confirm thing y happens

Checks for reviewer

• Would the PR title make sense to a user on a set of release notes

[rtuck99]

Looks fine.
Approved

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 92.89%. Comparing base (67e1969) to head (64e356e).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1713   +/-   ##
=======================================
  Coverage   92.89%   92.89%           
=======================================
  Files         159      159           
  Lines        8679     8679           
=======================================
  Hits         8062     8062           
  Misses        617      617           

Components	Coverage Δ
i24 SSX	77.15% <ø> (ø)
hyperion	98.73% <ø> (ø)
other	98.18% <100.00%> (ø)

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