Video

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Frame Analysis

18:54:11 1:25 observation 18:55:36
1 18:54:32
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2 18:54:53
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3 18:55:14
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:54:11 0.009s
prepare 0% 19:54:11 0.018s
oiling_optimized 0% 19:54:14 3.218s
spread_dough_optimized 0% 19:54:22 11.520s
add_topping_shape 0% 19:55:09 58.026s
fold 0% 19:55:09 58.028s
push_off 0% 19:55:24 73.522s
wipe_spatula 0% 19:55:32 81.122s

Machine Logs

19:54:11.371 make_crepe_action Executing make_crepe action
19:54:11.371 crepe_log_node Action status update: 1
19:54:11.372 make_crepe_action prepare started
19:54:11.375 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_19-54-11/session.json
19:54:11.378 duet1.duet_comm GCODE: G28 X Y
19:54:11.378 crepe_log_node Action status update: 2
19:54:11.402 duet1.duet_comm GCODE: G92 A0
19:54:11.410 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:54:14.590 make_crepe_action oiling_optimized started
19:54:14.591 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
19:54:14.594 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
19:54:16.194 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
19:54:16.235 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:54:16.636 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:54:19.718 make_crepe_action wait_until: timeout waiting for idle
19:54:19.721 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:54:19.723 duet1.duet_comm GCODE: G92 A0
19:54:19.735 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:54:22.892 make_crepe_action spread_dough_optimized started
19:54:22.893 make_crepe_action Full Duration: 9.7s; Speed: 205.3 mm/s; r_critical: 58.8mm; r_stop: 58.8mm ;duration_stop: 8.0s
19:54:22.896 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
19:54:25.092 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
19:54:25.136 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
19:54:25.536 duet2.duet_comm GCODE: T0 G1 E142 F840 G1 E-1 F100
19:54:41.398 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
19:55:09.398 make_crepe_action add_topping_shape started
19:55:09.398 make_crepe_action No topping selected for shape, skipping
19:55:09.400 make_crepe_action fold started
19:55:09.400 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
19:55:09.410 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
19:55:16.393 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
19:55:17.792 make_crepe_action fold started
19:55:17.799 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
19:55:23.892 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
19:55:24.893 make_crepe_action push_off started
19:55:24.901 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-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
19:55:32.494 make_crepe_action wipe_spatula started
19:55:32.499 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
19:55:35.897 duet1.duet_comm GCODE: G92 A0
19:55:35.907 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