Video

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Frame Analysis

17:08:44 1:51 observation 17:10:35
1 17:09:11
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2 17:09:39
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3 17:10:07
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Phases

Phase Detail Progress Time Elapsed
init 0% 18:08:44 0.005s
prepare 0% 18:08:44 0.194s
oiling_optimized 0% 18:08:47 3.199s
spread_dough_optimized 0% 18:08:55 11.503s
add_topping_shape 0% 18:09:44 60.400s
fold 0% 18:10:03 79.300s
push_off 0% 18:10:23 99.501s
wipe_spatula 0% 18:10:31 107.101s

Machine Logs

18:08:44.348 crepe_log_node Action status update: 1
18:08:44.348 make_crepe_action Executing make_crepe action
18:08:44.350 make_crepe_action prepare started
18:08:44.350 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_18-08-44/session.json
18:08:44.352 crepe_log_node Action status update: 2
18:08:44.356 duet1.duet_comm GCODE: G28 X Y
18:08:44.367 duet1.duet_comm GCODE: G92 A0
18:08:44.380 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:08:47.548 make_crepe_action oiling_optimized started
18:08:47.549 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
18:08:47.551 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
18:08:49.150 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
18:08:49.190 duet1.duet_comm RUN MACRO: oiling_optimized.g
18:08:49.591 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
18:08:52.674 make_crepe_action wait_until: timeout waiting for idle
18:08:52.675 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
18:08:52.677 duet1.duet_comm GCODE: G92 A0
18:08:52.688 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:08:55.851 make_crepe_action spread_dough_optimized started
18:08:55.853 make_crepe_action Full Duration: 11.9s; Speed: 199.4 mm/s; r_critical: 57.1mm; r_stop: 57.1mm ;duration_stop: 9.9s
18:08:55.858 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
18:08:58.054 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-15.50 F115.18 G1 A52.2 B154.9 Z-15.46 F115.18 G1 A96.5 B158.1 Z-15.41 F115.18 G1 A141.8 B161.4 Z-15.36 F115.18 G1 A188.2 B164.8 Z-15.32 F115.18 G1 A236.0 B168.3 Z-15.27 F115.18 G1 A285.1 B171.9 Z-15.22 F115.18 G1 A335.7 B175.6 Z-15.16 F115.18 G1 A388.0 B179.4 Z-15.11 F115.18 G1 A442.1 B183.3 Z-15.06 F115.18 G1 A498.2 B187.4 Z-15.00 F115.18 G1 A556.6 B191.7 Z-14.94 F115.18 G1 A617.6 B196.2 Z-14.88 F115.18 G1 A681.6 B200.9 Z-14.81 F115.18 G1 A749.0 B205.9 Z-14.74 F115.18 G1 A820.4 B211.1 Z-14.67 F115.18 G1 A896.8 B216.8 Z-14.59 F115.18 G1 A979.1 B222.9 Z-14.51 F115.18 G1 A1069.3 B229.7 Z-14.42 F115.18 G1 A1170.0 B237.3 Z-14.32 F115.18 G94 G1 A1392.5 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
18:08:58.096 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
18:08:58.497 duet2.duet_comm GCODE: T0 G1 E173 F840 G1 E-1 F100
18:09:16.748 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
18:09:44.749 make_crepe_action add_topping_shape started
18:09:44.754 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B198 F240.00 G1 A-25 B209 F240.00 G1 A-23 B220 F240.00 G1 A-22 B231 F240.00 G1 A-19 B241 F240.00 G1 A-16 B250 F240.00 G1 A-11 B259 F240.00 G1 A-3 B266 F240.00 G94
18:09:44.791 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B199 F240.00 G1 A-5 B210 F240.00 G1 A-10 B220 F240.00 G1 A-17 B231 F240.00 G1 A-25 B241 F240.00 G1 A-36 B250 F240.00 G1 A-50 B258 F240.00 G1 A-66 B264 F240.00 G94
18:09:44.827 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B254 F240.00 G1 A-91 B251 F240.00 G1 A-79 B245 F240.00 G1 A-69 B239 F240.00 G1 A-61 B231 F240.00 G1 A-54 B223 F240.00 G1 A-48 B214 F240.00 G1 A-49 B207 F240.00 G1 A-53 B201 F240.00 G1 A-56 B193 F240.00 G1 A-60 B188 F240.00 G1 A-65 B188 F240.00 G1 A-70 B192 F240.00 G1 A-74 B201 F240.00 G1 A-76 B211 F240.00 G1 A-74 B221 F240.00 G1 A-72 B230 F240.00 G1 A-69 B238 F240.00 G94
18:09:44.863 make_crepe_action Uploaded 4 path macros. Starting execution.
18:09:44.877 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F240.00 G1 A38 B199 F240.00 G1 A42 B206 F240.00 G1 A47 B212 F240.00 G1 A52 B217 F240.00 G1 A58 B220 F240.00 G1 A64 B223 F240.00 G1 A65 B230 F240.00 G1 A61 B241 F240.00 G1 A55 B252 F240.00 G1 A46 B264 F240.00 G94
18:09:44.915 duet1.duet_comm GCODE: G1 A-26 B198 F6000
18:09:48.153 duet1.duet_comm RUN MACRO: leadXpro_X2.g
18:09:48.153 duet2.duet_comm GCODE: T2 G1 E16.0 F480
18:09:50.148 duet1.duet_comm GCODE: G1 A-1 B199 F6000
18:09:50.950 duet1.duet_comm RUN MACRO: leadXpro_X.g
18:09:50.950 duet2.duet_comm GCODE: T2 G1 E16.0 F480
18:09:52.955 duet1.duet_comm GCODE: G1 A-103 B254 F6000
18:09:53.857 duet1.duet_comm RUN MACRO: leadXpro_P.g
18:09:53.860 duet2.duet_comm GCODE: T2 G1 E35.3 F480
18:09:58.847 duet1.duet_comm GCODE: G1 A35 B192 F6000
18:10:00.449 duet1.duet_comm RUN MACRO: leadXpro_L.g
18:10:00.449 duet2.duet_comm GCODE: T2 G1 E20.9 F480
18:10:03.649 duet1.duet_comm GCODE: G1 B5 F6000
18:10:03.649 make_crepe_action fold started
18:10:03.661 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
18:10:03.673 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
18:10:15.349 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
18:10:16.749 make_crepe_action fold started
18:10:16.753 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
18:10:22.850 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
18:10:23.850 make_crepe_action push_off started
18:10:23.854 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
18:10:31.450 make_crepe_action wipe_spatula started
18:10:31.453 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
18:10:34.850 duet1.duet_comm GCODE: G92 A0
18:10:34.859 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 40
gap 60
offset 22
r_min 27
r0 140
steps 20
valve_closed 70
valve_open 0.1

dispense.toppings

available ["plain","chocolate","blueberry"]
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.blueberry

density 0.14
description Blueberry topping
display_name Blueberry Sauce
dm 318
flowrate 8
name blueberry
port 1

dispense.toppings.chocolate

density 0.2
description Rich chocolate topping
display_name Chocolate Sauce
dm 300
flowrate 8
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