Video

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Frame Analysis

18:52:10 1:48 observation 18:53:58
1 18:52:37
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2 18:53:04
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3 18:53:31
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:52:10 0.006s
prepare 0% 19:52:10 0.011s
oiling_optimized 0% 19:52:13 3.197s
spread_dough_optimized 0% 19:52:22 11.498s
add_topping_shape 0% 19:53:08 57.997s
fold 0% 19:53:25 75.108s
push_off 0% 19:53:46 95.397s
wipe_spatula 0% 19:53:53 103.029s

Machine Logs

19:52:10.794 make_crepe_action Executing make_crepe action
19:52:10.794 crepe_log_node Action status update: 1
19:52:10.796 make_crepe_action prepare started
19:52:10.797 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_19-52-10/session.json
19:52:10.798 duet1.duet_comm GCODE: G28 X Y
19:52:10.800 crepe_log_node Action status update: 2
19:52:10.809 duet1.duet_comm GCODE: G92 A0
19:52:10.819 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:52:13.992 make_crepe_action oiling_optimized started
19:52:13.993 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
19:52:13.995 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
19:52:15.594 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
19:52:15.634 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:52:16.035 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:52:19.118 make_crepe_action wait_until: timeout waiting for idle
19:52:19.120 duet1.duet_comm GCODE: G92 A0
19:52:19.121 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:52:19.130 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:52:22.293 make_crepe_action spread_dough_optimized started
19:52:22.295 make_crepe_action Full Duration: 9.7s; Speed: 205.3 mm/s; r_critical: 58.8mm; r_stop: 58.8mm ;duration_stop: 8.0s
19:52:22.298 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
19:52:24.494 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-15.50 F143.06 G1 A44.9 B154.8 Z-15.46 F143.06 G1 A81.5 B158.0 Z-15.41 F143.06 G1 A119.1 B161.3 Z-15.37 F143.06 G1 A157.6 B164.6 Z-15.32 F143.06 G1 A197.1 B168.1 Z-15.27 F143.06 G1 A237.8 B171.6 Z-15.22 F143.06 G1 A279.7 B175.2 Z-15.17 F143.06 G1 A323.0 B179.0 Z-15.12 F143.06 G1 A367.7 B182.9 Z-15.06 F143.06 G1 A414.1 B186.9 Z-15.01 F143.06 G1 A462.4 B191.2 Z-14.95 F143.06 G1 A512.7 B195.5 Z-14.89 F143.06 G1 A565.4 B200.2 Z-14.82 F143.06 G1 A620.9 B205.0 Z-14.75 F143.06 G1 A679.6 B210.2 Z-14.68 F143.06 G1 A742.2 B215.7 Z-14.61 F143.06 G1 A809.7 B221.6 Z-14.53 F143.06 G1 A883.2 B228.2 Z-14.44 F143.06 G1 A964.8 B235.5 Z-14.34 F143.06 G94 G1 A1198.2 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
19:52:24.539 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
19:52:24.940 duet2.duet_comm GCODE: T0 G1 E142 F840 G1 E-1 F100
19:52:40.792 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
19:53:08.792 make_crepe_action add_topping_shape started
19:53:08.795 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B216 F300.00 G1 A-25 B227 F300.00 G1 A-23 B238 F300.00 G1 A-22 B249 F300.00 G1 A-19 B259 F300.00 G1 A-16 B268 F300.00 G1 A-11 B277 F300.00 G1 A-3 B284 F300.00 G94
19:53:08.834 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B217 F300.00 G1 A-5 B228 F300.00 G1 A-10 B238 F300.00 G1 A-17 B249 F300.00 G1 A-25 B259 F300.00 G1 A-36 B268 F300.00 G1 A-50 B276 F300.00 G1 A-66 B282 F300.00 G94
19:53:08.871 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B272 F300.00 G1 A-91 B269 F300.00 G1 A-79 B263 F300.00 G1 A-69 B257 F300.00 G1 A-61 B249 F300.00 G1 A-54 B241 F300.00 G1 A-48 B232 F300.00 G1 A-49 B225 F300.00 G1 A-53 B219 F300.00 G1 A-56 B211 F300.00 G1 A-60 B206 F300.00 G1 A-65 B206 F300.00 G1 A-70 B210 F300.00 G1 A-74 B219 F300.00 G1 A-76 B229 F300.00 G1 A-74 B239 F300.00 G1 A-72 B248 F300.00 G1 A-69 B256 F300.00 G94
19:53:08.909 make_crepe_action Uploaded 4 path macros. Starting execution.
19:53:08.922 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B210 F300.00 G1 A38 B217 F300.00 G1 A42 B224 F300.00 G1 A47 B230 F300.00 G1 A52 B235 F300.00 G1 A58 B238 F300.00 G1 A64 B241 F300.00 G1 A65 B248 F300.00 G1 A61 B259 F300.00 G1 A55 B270 F300.00 G1 A46 B282 F300.00 G94
19:53:08.964 duet1.duet_comm GCODE: G1 A-26 B216 F6000
19:53:12.290 duet2.duet_comm GCODE: T1 G1 E3.2 F120
19:53:12.290 duet1.duet_comm RUN MACRO: leadXpro_X2.g
19:53:13.891 duet1.duet_comm GCODE: G1 A-1 B217 F6000
19:53:14.696 duet2.duet_comm GCODE: T1 G1 E3.2 F120
19:53:14.698 duet1.duet_comm RUN MACRO: leadXpro_X.g
19:53:16.895 duet1.duet_comm GCODE: G1 A-103 B272 F6000
19:53:17.791 duet1.duet_comm RUN MACRO: leadXpro_P.g
19:53:17.791 duet2.duet_comm GCODE: T1 G1 E7.1 F120
19:53:21.492 duet1.duet_comm GCODE: G1 A35 B210 F6000
19:53:23.090 duet1.duet_comm RUN MACRO: leadXpro_L.g
19:53:23.090 duet2.duet_comm GCODE: T1 G1 E4.2 F120
19:53:25.902 duet1.duet_comm GCODE: G1 B5 F6000
19:53:25.903 make_crepe_action fold started
19:53:25.916 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
19:53:25.926 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
19:53:37.704 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
19:53:39.092 make_crepe_action fold started
19:53:39.095 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
19:53:45.194 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
19:53:46.192 make_crepe_action push_off started
19:53:46.194 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
19:53:53.793 make_crepe_action wipe_spatula started
19:53:53.796 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
19:53:57.192 duet1.duet_comm GCODE: G92 A0
19:53:57.203 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0022
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 0.04
description Blueberry topping
display_name Blueberry Sauce
dm 318
flowrate 2
name blueberry
port 1

dispense.toppings.chocolate

density 0.04
description Rich chocolate topping
display_name Chocolate Sauce
dm 300
flowrate 2
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