Video

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Frame Analysis

16:08:07 1:50 observation 16:09:57
1 16:08:34
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2 16:09:02
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3 16:09:29
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:08:07 0.755s
prepare 0% 17:08:07 0.807s
oiling_optimized 0% 17:08:10 3.168s
spread_dough_optimized 0% 17:08:19 12.699s
add_topping_shape 0% 17:09:08 61.574s
fold 0% 17:09:25 78.572s
push_off 0% 17:09:45 98.770s
wipe_spatula 0% 17:09:53 106.390s

Machine Logs

17:08:06.998 make_crepe_action Executing make_crepe action
17:08:06.998 crepe_log_node Action status update: 1
17:08:07.000 make_crepe_action prepare started
17:08:07.003 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_17-08-06/session.json
17:08:07.005 duet1.duet_comm GCODE: G28 X Y
17:08:07.014 duet1.duet_comm GCODE: G92 A0
17:08:07.023 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:08:07.753 crepe_log_node Action status update: 2
17:08:10.169 make_crepe_action oiling_optimized started
17:08:10.170 make_crepe_action Oiling - Full Duration: 4.1s; Speed: 250.0 mm/s; r_critical: 71.6mm; r_stop: 71.6mm; duration_stop: 3.0s
17:08:10.172 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
17:08:11.769 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A9.0 B151.7 F376.15 G1 A25.7 B154.5 F376.15 G1 A42.7 B157.4 F376.15 G1 A60.1 B160.3 F376.15 G1 A77.9 B163.2 F376.15 G1 A96.1 B166.3 F376.15 G1 A114.7 B169.4 F376.15 G1 A133.9 B172.6 F376.15 G1 A153.6 B175.9 F376.15 G1 A173.9 B179.3 F376.15 G1 A194.8 B182.8 F376.15 G1 A216.4 B186.4 F376.15 G1 A238.8 B190.1 F376.15 G1 A262.0 B194.0 F376.15 G1 A286.2 B198.1 F376.15 G1 A311.6 B202.3 F376.15 G1 A338.2 B206.8 F376.15 G1 A366.3 B211.5 F376.15 G1 A396.1 B216.5 F376.15 G1 A428.2 B221.8 F376.15 G94 G1 A743.2 B274.3 F12000.0 G1 A894.6 F12000.0
17:08:11.831 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:08:12.232 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:08:18.571 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:08:18.575 duet1.duet_comm GCODE: G92 A0
17:08:18.587 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:08:19.669 make_crepe_action spread_dough_optimized started
17:08:19.672 make_crepe_action Full Duration: 11.9s; Speed: 199.4 mm/s; r_critical: 57.1mm; r_stop: 57.1mm ;duration_stop: 9.9s
17:08:19.674 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
17:08:21.887 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.50 F115.18 G1 A52.2 B154.9 Z-14.46 F115.18 G1 A96.5 B158.1 Z-14.41 F115.18 G1 A141.8 B161.4 Z-14.36 F115.18 G1 A188.2 B164.8 Z-14.32 F115.18 G1 A236.0 B168.3 Z-14.27 F115.18 G1 A285.1 B171.9 Z-14.22 F115.18 G1 A335.7 B175.6 Z-14.16 F115.18 G1 A388.0 B179.4 Z-14.11 F115.18 G1 A442.1 B183.3 Z-14.06 F115.18 G1 A498.2 B187.4 Z-14.00 F115.18 G1 A556.6 B191.7 Z-13.94 F115.18 G1 A617.6 B196.2 Z-13.88 F115.18 G1 A681.6 B200.9 Z-13.81 F115.18 G1 A749.0 B205.9 Z-13.74 F115.18 G1 A820.4 B211.1 Z-13.67 F115.18 G1 A896.8 B216.8 Z-13.59 F115.18 G1 A979.1 B222.9 Z-13.51 F115.18 G1 A1069.3 B229.7 Z-13.42 F115.18 G1 A1170.0 B237.3 Z-13.32 F115.18 G94 G1 A1392.5 B274.3 Z-12.50 F12000.0 G1 A1993.0 F12000.0 G1 Z0 A2173.0 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
17:08:21.945 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
17:08:22.344 duet2.duet_comm GCODE: T0 G1 E173 F840 G1 E-1 F100
17:08:40.574 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
17:09:08.574 make_crepe_action add_topping_shape started
17:09:08.579 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B198 F300.00 G1 A-25 B209 F300.00 G1 A-23 B220 F300.00 G1 A-22 B231 F300.00 G1 A-19 B241 F300.00 G1 A-16 B250 F300.00 G1 A-11 B259 F300.00 G1 A-3 B266 F300.00 G94
17:09:08.616 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B199 F300.00 G1 A-5 B210 F300.00 G1 A-10 B220 F300.00 G1 A-17 B231 F300.00 G1 A-25 B241 F300.00 G1 A-36 B250 F300.00 G1 A-50 B258 F300.00 G1 A-66 B264 F300.00 G94
17:09:08.669 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B254 F300.00 G1 A-91 B251 F300.00 G1 A-79 B245 F300.00 G1 A-69 B239 F300.00 G1 A-61 B231 F300.00 G1 A-54 B223 F300.00 G1 A-48 B214 F300.00 G1 A-49 B207 F300.00 G1 A-53 B201 F300.00 G1 A-56 B193 F300.00 G1 A-60 B188 F300.00 G1 A-65 B188 F300.00 G1 A-70 B192 F300.00 G1 A-74 B201 F300.00 G1 A-76 B211 F300.00 G1 A-74 B221 F300.00 G1 A-72 B230 F300.00 G1 A-69 B238 F300.00 G94
17:09:08.707 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F300.00 G1 A38 B199 F300.00 G1 A42 B206 F300.00 G1 A47 B212 F300.00 G1 A52 B217 F300.00 G1 A58 B220 F300.00 G1 A64 B223 F300.00 G1 A65 B230 F300.00 G1 A61 B241 F300.00 G1 A55 B252 F300.00 G1 A46 B264 F300.00 G94
17:09:08.708 make_crepe_action Uploaded 4 path macros. Starting execution.
17:09:08.752 duet1.duet_comm GCODE: G1 A-26 B198 F6000
17:09:11.970 duet1.duet_comm RUN MACRO: leadXpro_X2.g
17:09:11.970 duet2.duet_comm GCODE: T2 G1 E16.0 F600
17:09:13.569 duet1.duet_comm GCODE: G1 A-1 B199 F6000
17:09:14.377 duet1.duet_comm RUN MACRO: leadXpro_X.g
17:09:14.376 duet2.duet_comm GCODE: T2 G1 E16.0 F600
17:09:16.570 duet1.duet_comm GCODE: G1 A-103 B254 F6000
17:09:17.469 duet2.duet_comm GCODE: T2 G1 E35.3 F600
17:09:17.472 duet1.duet_comm RUN MACRO: leadXpro_P.g
17:09:21.169 duet1.duet_comm GCODE: G1 A35 B192 F6000
17:09:22.769 duet2.duet_comm GCODE: T2 G1 E20.9 F600
17:09:22.769 duet1.duet_comm RUN MACRO: leadXpro_L.g
17:09:25.570 make_crepe_action fold started
17:09:25.576 duet1.duet_comm GCODE: G1 B5 F6000
17:09:25.588 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
17:09:25.598 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
17:09:37.271 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
17:09:38.671 make_crepe_action fold started
17:09:38.678 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
17:09:44.769 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
17:09:45.769 make_crepe_action push_off started
17:09:45.772 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
17:09:53.371 make_crepe_action wipe_spatula started
17:09:53.375 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C340 F20000 G1 Z-42 G1 C135 G1 C140 Z-30 G1 C5 G1 X0 Y0 Z0 B5 C5 F20000
17:09:56.769 duet1.duet_comm GCODE: G92 A0
17:09:56.777 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 30
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 0.2
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