Video

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Frame Analysis

18:11:53 2:16 observation 18:14:09
1 18:12:27
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2 18:13:01
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3 18:13:35
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:11:53 0.007s
prepare 0% 19:11:53 0.011s
oiling_optimized 0% 19:11:57 3.176s
spread_dough_optimized 0% 19:12:05 11.475s
add_topping_shape 0% 19:12:53 59.875s
fold 0% 19:13:37 103.581s
push_off 0% 19:13:57 123.775s
wipe_spatula 0% 19:14:05 131.373s

Machine Logs

19:11:53.973 make_crepe_action Executing make_crepe action
19:11:53.974 crepe_log_node Action status update: 1
19:11:53.975 make_crepe_action prepare started
19:11:53.977 duet1.duet_comm GCODE: G28 X Y
19:11:53.977 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_19-11-53/session.json
19:11:53.980 crepe_log_node Action status update: 2
19:11:53.986 duet1.duet_comm GCODE: G92 A0
19:11:53.996 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:11:57.151 make_crepe_action oiling_optimized started
19:11:57.152 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
19:11:57.157 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
19:11:58.749 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
19:11:58.789 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:11:59.190 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:12:02.273 make_crepe_action wait_until: timeout waiting for idle
19:12:02.275 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:12:02.275 duet1.duet_comm GCODE: G92 A0
19:12:02.287 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:12:05.450 make_crepe_action spread_dough_optimized started
19:12:05.451 make_crepe_action Full Duration: 11.9s; Speed: 172.8 mm/s; r_critical: 49.5mm; r_stop: 49.5mm ;duration_stop: 10.4s
19:12:05.452 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
19:12:07.649 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-15.50 F109.72 G1 A48.4 B155.0 Z-15.45 F109.72 G1 A88.7 B158.4 Z-15.41 F109.72 G1 A130.1 B161.9 Z-15.36 F109.72 G1 A172.6 B165.5 Z-15.31 F109.72 G1 A216.4 B169.2 Z-15.25 F109.72 G1 A261.4 B172.9 Z-15.20 F109.72 G1 A308.0 B176.9 Z-15.15 F109.72 G1 A356.2 B180.9 Z-15.09 F109.72 G1 A406.3 B185.2 Z-15.03 F109.72 G1 A458.4 B189.5 Z-14.97 F109.72 G1 A512.8 B194.1 Z-14.90 F109.72 G1 A569.8 B199.0 Z-14.84 F109.72 G1 A630.0 B204.1 Z-14.77 F109.72 G1 A693.8 B209.5 Z-14.69 F109.72 G1 A762.1 B215.3 Z-14.61 F109.72 G1 A835.9 B221.6 Z-14.53 F109.72 G1 A916.8 B228.6 Z-14.43 F109.72 G1 A1007.3 B236.4 Z-14.33 F109.72 G1 A1112.2 B245.6 Z-14.21 F109.72 G94 G1 A1284.4 B274.3 Z-13.50 F12000.0 G1 A1734.6 F12000.0 G1 Z0 A1914.6 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
19:12:07.699 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
19:12:08.099 duet2.duet_comm GCODE: T0 G1 E173 F840 G1 E-1 F100
19:12:25.849 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
19:12:53.849 make_crepe_action add_topping_shape started
19:12:53.851 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B198 F68.57 G1 A-25 B209 F68.57 G1 A-23 B220 F68.57 G1 A-22 B231 F68.57 G1 A-19 B241 F68.57 G1 A-16 B250 F68.57 G1 A-11 B259 F68.57 G1 A-3 B266 F68.57 G94
19:12:53.890 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B199 F68.57 G1 A-5 B210 F68.57 G1 A-10 B220 F68.57 G1 A-17 B231 F68.57 G1 A-25 B241 F68.57 G1 A-36 B250 F68.57 G1 A-50 B258 F68.57 G1 A-66 B264 F68.57 G94
19:12:53.930 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B254 F68.57 G1 A-91 B251 F68.57 G1 A-79 B245 F68.57 G1 A-69 B239 F68.57 G1 A-61 B231 F68.57 G1 A-54 B223 F68.57 G1 A-48 B214 F68.57 G1 A-49 B207 F68.57 G1 A-53 B201 F68.57 G1 A-56 B193 F68.57 G1 A-60 B188 F68.57 G1 A-65 B188 F68.57 G1 A-70 B192 F68.57 G1 A-74 B201 F68.57 G1 A-76 B211 F68.57 G1 A-74 B221 F68.57 G1 A-72 B230 F68.57 G1 A-69 B238 F68.57 G94
19:12:53.969 make_crepe_action Uploaded 4 path macros. Starting execution.
19:12:53.981 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F68.57 G1 A38 B199 F68.57 G1 A42 B206 F68.57 G1 A47 B212 F68.57 G1 A52 B217 F68.57 G1 A58 B220 F68.57 G1 A64 B223 F68.57 G1 A65 B230 F68.57 G1 A61 B241 F68.57 G1 A55 B252 F68.57 G1 A46 B264 F68.57 G94
19:12:54.019 duet1.duet_comm GCODE: G1 A-26 B198 F6000
19:12:57.255 duet1.duet_comm RUN MACRO: leadXpro_X2.g
19:12:57.255 duet2.duet_comm GCODE: T2 G1 E56.0 F480
19:13:03.559 duet1.duet_comm GCODE: G1 A-1 B199 F6000
19:13:04.350 duet1.duet_comm RUN MACRO: leadXpro_X.g
19:13:04.350 duet2.duet_comm GCODE: T2 G1 E56.0 F480
19:13:11.149 duet1.duet_comm GCODE: G1 A-103 B254 F6000
19:13:12.048 duet2.duet_comm GCODE: T2 G1 E123.4 F480
19:13:12.048 duet1.duet_comm RUN MACRO: leadXpro_P.g
19:13:27.050 duet1.duet_comm GCODE: G1 A35 B192 F6000
19:13:28.651 duet2.duet_comm GCODE: T2 G1 E73.2 F480
19:13:28.651 duet1.duet_comm RUN MACRO: leadXpro_L.g
19:13:37.552 make_crepe_action fold started
19:13:37.552 duet1.duet_comm GCODE: G1 B5 F6000
19:13:37.567 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
19:13:37.581 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
19:13:49.249 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
19:13:50.650 make_crepe_action fold started
19:13:50.653 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
19:13:56.757 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
19:13:57.749 make_crepe_action push_off started
19:13:57.752 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
19:14:05.347 make_crepe_action wipe_spatula started
19:14:05.351 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
19:14:08.750 duet1.duet_comm GCODE: G92 A0
19:14:08.760 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0027
dm 290
flowrate 14
gap 30
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 0.3
description Blueberry topping
display_name Blueberry Sauce
dm 318
flowrate 8
name blueberry
port 1

dispense.toppings.chocolate

density 0.7
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