Video

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Frame Analysis

16:34:25 1:29 observation 16:35:54
1 16:34:47
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2 16:35:09
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3 16:35:31
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:34:25 0.008s
prepare 0% 17:34:25 0.014s
oiling_optimized 0% 17:34:29 3.218s
spread_dough_optimized 0% 17:34:37 11.553s
add_topping_shape 0% 17:35:27 61.520s
fold 0% 17:35:27 61.523s
push_off 0% 17:35:42 77.019s
wipe_spatula 0% 17:35:50 84.619s

Machine Logs

17:34:25.847 make_crepe_action Executing make_crepe action
17:34:25.847 crepe_log_node Action status update: 1
17:34:25.849 make_crepe_action prepare started
17:34:25.852 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_17-34-25/session.json
17:34:25.854 duet1.duet_comm GCODE: G28 X Y
17:34:25.855 crepe_log_node Action status update: 2
17:34:25.879 duet1.duet_comm GCODE: G92 A0
17:34:25.894 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:34:29.066 make_crepe_action oiling_optimized started
17:34:29.068 make_crepe_action Oiling - Full Duration: 3.1s; Speed: 333.3 mm/s; r_critical: 95.5mm; r_stop: 95.5mm; duration_stop: 1.6s
17:34:29.069 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
17:34:30.668 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A9.0 B151.7 F692.43 G1 A21.1 B153.7 F692.43 G1 A33.3 B155.8 F692.43 G1 A45.7 B157.9 F692.43 G1 A58.3 B160.0 F692.43 G1 A71.1 B162.1 F692.43 G1 A84.1 B164.3 F692.43 G1 A97.4 B166.5 F692.43 G1 A110.9 B168.7 F692.43 G1 A124.6 B171.0 F692.43 G1 A138.6 B173.4 F692.43 G1 A152.9 B175.8 F692.43 G1 A167.5 B178.2 F692.43 G1 A182.5 B180.7 F692.43 G1 A197.8 B183.3 F692.43 G1 A213.4 B185.9 F692.43 G1 A229.5 B188.6 F692.43 G1 A245.9 B191.3 F692.43 G1 A262.9 B194.2 F692.43 G1 A280.4 B197.1 F692.43 G94 G1 A744.0 B274.3 F12000.0 G1 A894.6 F12000.0
17:34:30.709 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:34:31.110 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:34:34.198 make_crepe_action wait_until: timeout waiting for idle
17:34:34.200 duet1.duet_comm GCODE: G92 A0
17:34:34.201 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:34:34.211 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:34:37.368 make_crepe_action spread_dough_optimized started
17:34:37.369 make_crepe_action Full Duration: 13.2s; Speed: 179.5 mm/s; r_critical: 51.4mm; r_stop: 51.4mm ;duration_stop: 11.4s
17:34:37.371 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
17:34:39.570 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-15.50 F99.87 G1 A53.9 B155.0 Z-15.45 F99.87 G1 A99.9 B158.4 Z-15.41 F99.87 G1 A147.0 B161.8 Z-15.36 F99.87 G1 A195.4 B165.3 Z-15.31 F99.87 G1 A245.2 B168.9 Z-15.26 F99.87 G1 A296.5 B172.7 Z-15.21 F99.87 G1 A349.4 B176.6 Z-15.15 F99.87 G1 A404.2 B180.6 Z-15.09 F99.87 G1 A461.0 B184.7 Z-15.04 F99.87 G1 A520.1 B189.0 Z-14.98 F99.87 G1 A581.8 B193.6 Z-14.91 F99.87 G1 A646.4 B198.3 Z-14.85 F99.87 G1 A714.4 B203.3 Z-14.78 F99.87 G1 A786.4 B208.6 Z-14.70 F99.87 G1 A863.2 B214.3 Z-14.63 F99.87 G1 A946.0 B220.4 Z-14.54 F99.87 G1 A1036.3 B227.2 Z-14.45 F99.87 G1 A1136.8 B234.8 Z-14.35 F99.87 G1 A1251.8 B243.5 Z-14.23 F99.87 G94 G1 A1436.8 B274.3 Z-13.50 F12000.0 G1 A1993.0 F12000.0 G1 Z0 A2173.0 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
17:34:39.615 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
17:34:40.565 duet2.duet_comm GCODE: T0 G1 E191 F840 G1 E-1 F100
17:34:59.368 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
17:35:27.369 make_crepe_action add_topping_shape started
17:35:27.370 make_crepe_action No topping selected for shape, skipping
17:35:27.372 make_crepe_action fold started
17:35:27.373 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
17:35:27.385 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
17:35:34.372 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
17:35:35.775 make_crepe_action fold started
17:35:35.778 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
17:35:41.868 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
17:35:42.868 make_crepe_action push_off started
17:35:42.869 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
17:35:50.467 make_crepe_action wipe_spatula started
17:35:50.470 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
17:35:53.871 duet1.duet_comm GCODE: G92 A0
17:35:53.881 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.003
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 40
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 -13.5
z_spread_start -15.5
z_thread_pitch 15