Video

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Frame Analysis

11:29:20 0:01 observation 11:29:21
1 11:29:20
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2 11:29:20
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3 11:29:20
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:29:20 0.005s
add_topping_shape 0% 12:29:20 0.008s

Machine Logs

12:29:20.673 make_crepe_action Executing make_crepe action
12:29:20.673 crepe_log_node Action status update: 1
12:29:20.674 make_crepe_action Executing single step: add_topping_shape
12:29:20.675 make_crepe_action add_topping_shape started
12:29:20.676 make_crepe_action No topping selected for shape, skipping
12:29:20.679 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_12-29-20/session.json
12:29:20.681 crepe_log_node Action status update: 2
12:29:20.683 duet1.duet_comm GCODE: G92 A0
12:29:20.694 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0027
dm 290
flowrate 14
gap 26
offset 22
r_min 27
r0 140
spin_out 180
steps 20

dispense.oiling

density 0.002
dm 290
flowrate 120
gap 60
offset 22
r_min 27
r0 140
steps 20
valve_closed 70
valve_open 0.1

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/leadXpro.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 12000
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_offsets_every30deg [-2.2,-2.4,-2.5,-2.85,-3.2,-3,-2.85,-2.7,-2.6,-2.8,-2.65,-2.5]
z_scrape_start -26
z_spread_end -12.5
z_spread_start -14.5
z_thread_pitch 15