Video

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Frame Analysis

17:32:34 1:58 observation 17:34:32
1 17:33:03
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2 17:33:33
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3 17:34:02
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Phases

Phase Detail Progress Time Elapsed
init 0% 18:32:34 0.010s
prepare 0% 18:32:34 0.016s
spread_dough_optimized 0% 18:32:37 2.959s
add_topping_shape 0% 18:33:29 54.757s
fold 0% 18:33:56 82.056s
push_off 0% 18:34:20 105.561s
wipe_spatula 0% 18:34:27 113.166s

Machine Logs

18:32:34.672 crepe_log_node Action status update: 1
18:32:34.672 make_crepe_action Executing make_crepe action
18:32:34.675 make_crepe_action prepare started
18:32:34.679 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-11-29_18-32-34/session.json
18:32:34.678 duet1.duet_comm GCODE: G28 X Y
18:32:34.681 crepe_log_node Action status update: 2
18:32:34.691 duet1.duet_comm GCODE: G92 A0
18:32:34.704 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:32:37.631 make_crepe_action spread_dough_optimized started
18:32:37.632 make_crepe_action Full Duration: 6.6s; Speed: 359.0 mm/s; r_critical: 61.7mm; r_stop: 61.7mm ;duration_stop: 5.3s
18:32:37.636 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
18:32:40.458 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.50 F553.07 G1 A25.1 B152.9 Z-14.48 F553.07 G1 A41.3 B154.1 Z-14.47 F553.07 G1 A57.7 B155.3 Z-14.45 F553.07 G1 A74.2 B156.5 Z-14.43 F553.07 G1 A90.8 B157.7 Z-14.42 F553.07 G1 A107.6 B158.9 Z-14.40 F553.07 G1 A124.6 B160.2 Z-14.38 F553.07 G1 A141.7 B161.4 Z-14.36 F553.07 G1 A159.0 B162.7 Z-14.35 F553.07 G1 A176.4 B163.9 Z-14.33 F553.07 G1 A194.1 B165.2 Z-14.31 F553.07 G1 A211.9 B166.5 Z-14.29 F553.07 G1 A229.8 B167.8 Z-14.27 F553.07 G1 A248.0 B169.2 Z-14.25 F553.07 G1 A266.4 B170.5 Z-14.24 F553.07 G1 A285.0 B171.9 Z-14.22 F553.07 G1 A303.8 B173.2 Z-14.20 F553.07 G1 A322.8 B174.6 Z-14.18 F553.07 G1 A342.0 B176.0 Z-14.16 F553.07 G1 A361.5 B177.4 Z-14.14 F553.07 G1 A381.2 B178.9 Z-14.12 F553.07 G1 A401.2 B180.3 Z-14.10 F553.07 G1 A421.4 B181.8 Z-14.08 F553.07 G1 A441.9 B183.3 Z-14.06 F553.07 G1 A462.7 B184.8 Z-14.03 F553.07 G1 A483.8 B186.4 Z-14.01 F553.07 G1 A505.2 B188.0 Z-13.99 F553.07 G1 A526.9 B189.5 Z-13.97 F553.07 G1 A549.0 B191.2 Z-13.95 F553.07 G1 A571.4 B192.8 Z-13.92 F553.07 G1 A594.2 B194.5 Z-13.90 F553.07 G1 A617.4 B196.2 Z-13.88 F553.07 G1 A641.0 B197.9 Z-13.85 F553.07 G1 A665.0 B199.7 Z-13.83 F553.07 G1 A689.5 B201.5 Z-13.80 F553.07 G1 A714.5 B203.3 Z-13.78 F553.07 G1 A740.0 B205.2 Z-13.75 F553.07 G1 A766.1 B207.1 Z-13.72 F553.07 G1 A792.7 B209.1 Z-13.70 F553.07 G1 A820.0 B211.1 Z-13.67 F553.07 G1 A848.0 B213.2 Z-13.64 F553.07 G1 A876.7 B215.3 Z-13.61 F553.07 G1 A906.2 B217.5 Z-13.58 F553.07 G1 A936.6 B219.8 Z-13.55 F553.07 G1 A967.9 B222.1 Z-13.52 F553.07 G1 A1000.3 B224.5 Z-13.49 F553.07 G1 A1033.9 B227.0 Z-13.45 F553.07 G1 A1068.7 B229.6 Z-13.42 F553.07 G1 A1105.0 B232.4 Z-13.38 F553.07 G94 G1 A1231.0 B274.3 Z-12.50 F20000.0 G1 A1993.0 F20000.0 G1 Z0 A2173.0 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
18:32:40.509 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
18:32:40.911 duet2.duet_comm GCODE: T0 G1 E92 F840 G1 E-1 F100
18:33:01.428 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
18:33:29.429 make_crepe_action add_topping_shape started
18:33:29.433 duet1.duet_comm UPLOAD MACRO: maus_s.g G93 G1 A-64 B202 F240.00 G1 A-59 B203 F240.00 G1 A-56 B210 F240.00 G1 A-54 B219 F240.00 G1 A-59 B227 F240.00 G1 A-64 B223 F240.00 G1 A-67 B216 F240.00 G1 A-72 B212 F240.00 G1 A-77 B219 F240.00 G1 A-78 B229 F240.00 G1 A-75 B238 F240.00 G1 A-69 B240 F240.00 G94
18:33:29.469 duet1.duet_comm UPLOAD MACRO: maus_u2.g G93 G1 A-44 B230 F240.00 G1 A-50 B239 F240.00 G1 A-56 B248 F240.00 G1 A-64 B256 F240.00 G1 A-66 B258 F240.00 G1 A-62 B257 F240.00 G1 A-64 B268 F240.00 G1 A-59 B276 F240.00 G1 A-47 B273 F240.00 G1 A-37 B263 F240.00 G1 A-32 B252 F240.00 G1 A-27 B241 F240.00 G94
18:33:29.609 duet1.duet_comm UPLOAD MACRO: maus_a2.g G93 G1 A-31 B285 F240.00 G1 A-24 B272 F240.00 G1 A-20 B261 F240.00 G1 A-17 B249 F240.00 G1 A-16 B247 F240.00 G1 A-13 B245 F240.00 G1 A-5 B241 F240.00 G1 A1 B246 F240.00 G1 A3 B255 F240.00 G1 A2 B266 F240.00 G1 A-5 B278 F240.00 G1 A-20 B283 F240.00 G1 A-25 B275 F240.00 G94
18:33:29.724 make_crepe_action Uploaded 4 path macros. Starting execution.
18:33:29.735 duet1.duet_comm UPLOAD MACRO: maus_m1.g G93 G1 A40 B197 F240.00 G1 A43 B203 F240.00 G1 A47 B209 F240.00 G1 A51 B214 F240.00 G1 A53 B216 F240.00 G1 A49 B211 F240.00 G1 A45 B206 F240.00 G1 A41 B204 F240.00 G1 A36 B206 F240.00 G1 A31 B213 F240.00 G1 A31 B223 F240.00 G1 A34 B231 F240.00 G1 A39 B237 F240.00 G1 A42 B242 F240.00 G1 A37 B236 F240.00 G1 A33 B229 F240.00 G1 A29 B224 F240.00 G1 A23 B224 F240.00 G1 A17 B229 F240.00 G1 A14 B239 F240.00 G1 A16 B248 F240.00 G1 A18 B257 F240.00 G1 A22 B266 F240.00 G94
18:33:29.772 duet1.duet_comm GCODE: G1 A-64 B202 F6000
18:33:33.785 make_crepe_action wait_until: timeout waiting for idle
18:33:33.788 duet2.duet_comm GCODE: T1 G1 E23.5 F480
18:33:33.790 duet1.duet_comm RUN MACRO: maus_s.g
18:33:38.030 duet1.duet_comm GCODE: G1 A-44 B230 F6000
18:33:39.938 duet1.duet_comm RUN MACRO: maus_u2.g
18:33:39.940 duet2.duet_comm GCODE: T1 G1 E23.6 F480
18:33:43.430 duet1.duet_comm GCODE: G1 A-31 B285 F6000
18:33:44.128 duet1.duet_comm RUN MACRO: maus_a2.g
18:33:44.128 duet2.duet_comm GCODE: T1 G1 E25.6 F480
18:33:48.531 duet1.duet_comm GCODE: G1 A40 B197 F6000
18:33:50.730 duet1.duet_comm RUN MACRO: maus_m1.g
18:33:50.730 duet2.duet_comm GCODE: T1 G1 E45.2 F480
18:33:56.729 make_crepe_action fold started
18:33:56.729 duet1.duet_comm GCODE: G1 B5 F6000
18:33:56.739 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
18:33:56.750 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.0 F20000 G1 Y-50 Z-24.416666666666668 F3000 G1 X-140 Y-49 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000
18:34:09.637 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
18:34:12.230 make_crepe_action fold started
18:34:12.234 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.0 F20000 G1 Y-50 Z-24.416666666666668 F3000 G1 X-140 Y-49 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000
18:34:18.330 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
18:34:20.232 make_crepe_action push_off started
18:34:20.236 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.0 F20000 G1 Y-58 Z-21.416666666666668 F3000 G1 Z50 Y-78 F6000 G1 Z100 Y-120.0 F6000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000
18:34:27.836 make_crepe_action wipe_spatula started
18:34:27.840 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C355 F20000 G1 Z-39 G1 C132 G1 C149 Z-10 G1 C5 G1 X0 Y0 Z0 B5 C5 F20000
18:34:31.740 duet1.duet_comm GCODE: G92 A0
18:34:31.751 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0015
dm 290
flowrate 14
gap 26
offset 22
r_min 27
r0 140
spin_out 180
steps 50

dispense.toppings

available ["plain","chocolate","apple"]
svg_design_center [200,200]
svg_file_path /home/maus/ros2_ws/src/recipe_runner/recipe_runner/svg_designs/maus.svg
svg_resolution 10

dispense.toppings.apple

density 0.2
description Apple with cinamon topping
display_name Apple Sauce
dm 318
flowrate 8
name apple
port 1

dispense.toppings.chocolate

density 0.1
description Rich chocolate topping
display_name Chocolate Sauce
dm 300
flowrate 10
name chocolate
port 2

dispense.toppings.plain

description Just the pure crêpe.
display_name Plain
name plain

general

start_type_description_service true
use_sim_time false

machine

a_max_deg_per_min 20000
pos_idle G1 X0 Y0 Z0 B5 C5 F20000
x_scrape -115
x_spread 23
y_center -53
y_end -90
y_start -15
z_scrape_start -26
z_spread_end -12.5
z_spread_start -14.5
z_thread_pitch 15