Video

0:00 / 0:00

Frame Analysis

18:07:17 1:49 observation 18:09:06
1 18:07:44
Loading...
2 18:08:11
Loading...
3 18:08:38
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 19:07:17 0.006s
prepare 0% 19:07:17 0.007s
oiling_optimized 0% 19:07:20 3.176s
spread_dough_optimized 0% 19:07:28 11.474s
add_topping_shape 0% 19:08:17 60.375s
fold 0% 19:08:33 76.577s
push_off 0% 19:08:53 96.783s
wipe_spatula 0% 19:09:01 104.385s

Machine Logs

19:07:17.167 make_crepe_action Executing make_crepe action
19:07:17.168 crepe_log_node Action status update: 1
19:07:17.169 make_crepe_action prepare started
19:07:17.170 duet1.duet_comm GCODE: G28 X Y
19:07:17.175 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_19-07-17/session.json
19:07:17.178 crepe_log_node Action status update: 2
19:07:17.181 duet1.duet_comm GCODE: G92 A0
19:07:17.191 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:07:20.350 make_crepe_action oiling_optimized started
19:07:20.351 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
19:07:20.353 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
19:07:21.956 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
19:07:21.994 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:07:22.397 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:07:25.481 make_crepe_action wait_until: timeout waiting for idle
19:07:25.482 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:07:25.488 duet1.duet_comm GCODE: G92 A0
19:07:25.498 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:07:28.648 make_crepe_action spread_dough_optimized started
19:07:28.649 make_crepe_action Full Duration: 11.9s; Speed: 199.4 mm/s; r_critical: 57.1mm; r_stop: 57.1mm ;duration_stop: 9.9s
19:07:28.653 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
19:07:30.859 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
19:07:30.906 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
19:07:31.307 duet2.duet_comm GCODE: T0 G1 E173 F840 G1 E-1 F100
19:07:49.548 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
19:08:17.548 make_crepe_action add_topping_shape started
19:08:17.550 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B216 F342.86 G1 A-25 B227 F342.86 G1 A-23 B238 F342.86 G1 A-22 B249 F342.86 G1 A-19 B259 F342.86 G1 A-16 B268 F342.86 G1 A-11 B277 F342.86 G1 A-3 B284 F342.86 G94
19:08:17.587 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B217 F342.86 G1 A-5 B228 F342.86 G1 A-10 B238 F342.86 G1 A-17 B249 F342.86 G1 A-25 B259 F342.86 G1 A-36 B268 F342.86 G1 A-50 B276 F342.86 G1 A-66 B282 F342.86 G94
19:08:17.624 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B272 F342.86 G1 A-91 B269 F342.86 G1 A-79 B263 F342.86 G1 A-69 B257 F342.86 G1 A-61 B249 F342.86 G1 A-54 B241 F342.86 G1 A-48 B232 F342.86 G1 A-49 B225 F342.86 G1 A-53 B219 F342.86 G1 A-56 B211 F342.86 G1 A-60 B206 F342.86 G1 A-65 B206 F342.86 G1 A-70 B210 F342.86 G1 A-74 B219 F342.86 G1 A-76 B229 F342.86 G1 A-74 B239 F342.86 G1 A-72 B248 F342.86 G1 A-69 B256 F342.86 G94
19:08:17.663 make_crepe_action Uploaded 4 path macros. Starting execution.
19:08:17.677 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B210 F342.86 G1 A38 B217 F342.86 G1 A42 B224 F342.86 G1 A47 B230 F342.86 G1 A52 B235 F342.86 G1 A58 B238 F342.86 G1 A64 B241 F342.86 G1 A65 B248 F342.86 G1 A61 B259 F342.86 G1 A55 B270 F342.86 G1 A46 B282 F342.86 G94
19:08:17.715 duet1.duet_comm GCODE: G1 A-26 B216 F6000
19:08:21.053 duet2.duet_comm GCODE: T1 G1 E11.2 F480
19:08:21.058 duet1.duet_comm RUN MACRO: leadXpro_X2.g
19:08:22.554 duet1.duet_comm GCODE: G1 A-1 B217 F6000
19:08:23.850 duet1.duet_comm RUN MACRO: leadXpro_X.g
19:08:23.850 duet2.duet_comm GCODE: T1 G1 E11.2 F480
19:08:25.451 duet1.duet_comm GCODE: G1 A-103 B272 F6000
19:08:26.351 duet2.duet_comm GCODE: T1 G1 E24.7 F480
19:08:26.351 duet1.duet_comm RUN MACRO: leadXpro_P.g
19:08:30.150 duet1.duet_comm GCODE: G1 A35 B210 F6000
19:08:31.749 duet1.duet_comm RUN MACRO: leadXpro_L.g
19:08:31.749 duet2.duet_comm GCODE: T1 G1 E14.6 F480
19:08:33.749 make_crepe_action fold started
19:08:33.749 duet1.duet_comm GCODE: G1 B5 F6000
19:08:33.759 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
19:08:33.768 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
19:08:45.450 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
19:08:46.849 make_crepe_action fold started
19:08:46.850 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
19:08:52.950 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
19:08:53.956 make_crepe_action push_off started
19:08:53.960 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
19:09:01.552 make_crepe_action wipe_spatula started
19:09:01.555 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
19:09:04.960 duet1.duet_comm GCODE: G92 A0
19:09:04.973 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