Video

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Frame Analysis

18:49:14 1:43 observation 18:50:57
1 18:49:39
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2 18:50:05
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3 18:50:31
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:49:14 0.007s
prepare 0% 19:49:14 0.009s
oiling_optimized 0% 19:49:17 3.202s
spread_dough_optimized 0% 19:49:26 11.504s
add_topping_shape 0% 19:50:13 59.008s
fold 0% 19:50:25 71.302s
push_off 0% 19:50:45 91.303s
wipe_spatula 0% 19:50:53 98.903s

Machine Logs

19:49:14.684 make_crepe_action Executing make_crepe action
19:49:14.685 crepe_log_node Action status update: 1
19:49:14.686 make_crepe_action prepare started
19:49:14.691 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_19-49-14/session.json
19:49:14.694 duet1.duet_comm GCODE: G28 X Y
19:49:14.695 crepe_log_node Action status update: 2
19:49:14.703 duet1.duet_comm GCODE: G92 A0
19:49:14.713 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:49:17.891 make_crepe_action oiling_optimized started
19:49:17.893 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
19:49:17.896 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
19:49:19.491 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
19:49:19.531 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:49:19.931 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:49:23.014 make_crepe_action wait_until: timeout waiting for idle
19:49:23.016 duet1.duet_comm GCODE: G92 A0
19:49:23.018 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:49:23.027 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:49:26.193 make_crepe_action spread_dough_optimized started
19:49:26.194 make_crepe_action Full Duration: 11.0s; Speed: 180.6 mm/s; r_critical: 51.8mm; r_stop: 51.8mm ;duration_stop: 9.5s
19:49:26.199 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
19:49:28.392 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-15.50 F120.09 G1 A46.6 B155.0 Z-15.45 F120.09 G1 A85.1 B158.3 Z-15.41 F120.09 G1 A124.6 B161.8 Z-15.36 F120.09 G1 A165.2 B165.3 Z-15.31 F120.09 G1 A206.9 B168.9 Z-15.26 F120.09 G1 A249.8 B172.6 Z-15.21 F120.09 G1 A294.2 B176.5 Z-15.15 F120.09 G1 A340.1 B180.5 Z-15.10 F120.09 G1 A387.7 B184.6 Z-15.04 F120.09 G1 A437.2 B189.0 Z-14.98 F120.09 G1 A488.8 B193.5 Z-14.91 F120.09 G1 A543.0 B198.2 Z-14.85 F120.09 G1 A599.9 B203.2 Z-14.78 F120.09 G1 A660.2 B208.5 Z-14.71 F120.09 G1 A724.6 B214.1 Z-14.63 F120.09 G1 A793.9 B220.2 Z-14.54 F120.09 G1 A869.5 B226.9 Z-14.45 F120.09 G1 A953.7 B234.5 Z-14.35 F120.09 G1 A1050.0 B243.2 Z-14.24 F120.09 G94 G1 A1237.1 B274.3 Z-13.50 F12000.0 G1 A1680.4 F12000.0 G1 Z0 A1860.4 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
19:49:28.438 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
19:49:28.838 duet2.duet_comm GCODE: T0 G1 E160 F840 G1 E-1 F100
19:49:45.692 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
19:50:13.692 make_crepe_action add_topping_shape started
19:50:13.695 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B198 F900.00 G1 A-25 B209 F900.00 G1 A-23 B220 F900.00 G1 A-22 B231 F900.00 G1 A-19 B241 F900.00 G1 A-16 B250 F900.00 G1 A-11 B259 F900.00 G1 A-3 B266 F900.00 G94
19:50:13.731 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B199 F900.00 G1 A-5 B210 F900.00 G1 A-10 B220 F900.00 G1 A-17 B231 F900.00 G1 A-25 B241 F900.00 G1 A-36 B250 F900.00 G1 A-50 B258 F900.00 G1 A-66 B264 F900.00 G94
19:50:13.770 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B254 F900.00 G1 A-91 B251 F900.00 G1 A-79 B245 F900.00 G1 A-69 B239 F900.00 G1 A-61 B231 F900.00 G1 A-54 B223 F900.00 G1 A-48 B214 F900.00 G1 A-49 B207 F900.00 G1 A-53 B201 F900.00 G1 A-56 B193 F900.00 G1 A-60 B188 F900.00 G1 A-65 B188 F900.00 G1 A-70 B192 F900.00 G1 A-74 B201 F900.00 G1 A-76 B211 F900.00 G1 A-74 B221 F900.00 G1 A-72 B230 F900.00 G1 A-69 B238 F900.00 G94
19:50:13.808 make_crepe_action Uploaded 4 path macros. Starting execution.
19:50:13.822 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F900.00 G1 A38 B199 F900.00 G1 A42 B206 F900.00 G1 A47 B212 F900.00 G1 A52 B217 F900.00 G1 A58 B220 F900.00 G1 A64 B223 F900.00 G1 A65 B230 F900.00 G1 A61 B241 F900.00 G1 A55 B252 F900.00 G1 A46 B264 F900.00 G94
19:50:13.877 duet1.duet_comm GCODE: G1 A-26 B198 F6000
19:50:17.097 duet2.duet_comm GCODE: T2 G1 E1.6 F180
19:50:17.099 duet1.duet_comm RUN MACRO: leadXpro_X2.g
19:50:18.489 duet1.duet_comm GCODE: G1 A-1 B199 F6000
19:50:19.296 duet1.duet_comm RUN MACRO: leadXpro_X.g
19:50:19.300 duet2.duet_comm GCODE: T2 G1 E1.6 F180
19:50:20.394 duet1.duet_comm GCODE: G1 A-103 B254 F6000
19:50:21.291 duet1.duet_comm RUN MACRO: leadXpro_P.g
19:50:21.291 duet2.duet_comm GCODE: T2 G1 E3.5 F180
19:50:23.192 duet1.duet_comm GCODE: G1 A35 B192 F6000
19:50:24.794 duet2.duet_comm GCODE: T2 G1 E2.1 F180
19:50:24.794 duet1.duet_comm RUN MACRO: leadXpro_L.g
19:50:25.992 duet1.duet_comm GCODE: G1 B5 F6000
19:50:25.992 make_crepe_action fold started
19:50:26.002 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
19:50:26.011 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
19:50:37.498 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
19:50:38.896 make_crepe_action fold started
19:50:38.901 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
19:50:44.992 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
19:50:45.992 make_crepe_action push_off started
19:50:45.994 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
19:50:53.592 make_crepe_action wipe_spatula started
19:50:53.595 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
19:50:56.999 duet1.duet_comm GCODE: G92 A0
19:50:57.009 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0025
dm 290
flowrate 14
gap 31
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 0.02
description Blueberry topping
display_name Blueberry Sauce
dm 318
flowrate 3
name blueberry
port 1

dispense.toppings.chocolate

density 0.02
description Rich chocolate topping
display_name Chocolate Sauce
dm 300
flowrate 3
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