Video

0:00 / 0:00

Frame Analysis

18:55:56 1:48 observation 18:57:44
1 18:56:23
Loading...
2 18:56:50
Loading...
3 18:57:17
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 19:55:56 0.008s
prepare 0% 19:55:57 0.192s
oiling_optimized 0% 19:56:00 3.227s
spread_dough_optimized 0% 19:56:08 11.550s
add_topping_shape 0% 19:56:54 57.943s
fold 0% 19:57:11 75.037s
push_off 0% 19:57:32 95.226s
wipe_spatula 0% 19:57:39 102.829s

Machine Logs

19:55:56.963 crepe_log_node Action status update: 1
19:55:56.963 make_crepe_action Executing make_crepe action
19:55:56.964 make_crepe_action prepare started
19:55:56.967 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_19-55-56/session.json
19:55:56.970 duet1.duet_comm GCODE: G28 X Y
19:55:56.970 crepe_log_node Action status update: 2
19:55:56.995 duet1.duet_comm GCODE: G92 A0
19:55:57.006 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:56:00.190 make_crepe_action oiling_optimized started
19:56:00.191 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
19:56:00.193 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
19:56:01.802 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
19:56:01.842 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:56:02.243 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:56:05.325 make_crepe_action wait_until: timeout waiting for idle
19:56:05.327 duet1.duet_comm GCODE: G92 A0
19:56:05.327 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:56:05.338 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:56:08.491 make_crepe_action spread_dough_optimized started
19:56:08.492 make_crepe_action Full Duration: 9.7s; Speed: 205.3 mm/s; r_critical: 58.8mm; r_stop: 58.8mm ;duration_stop: 8.0s
19:56:08.497 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
19:56:10.691 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
19:56:10.735 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
19:56:11.136 duet2.duet_comm GCODE: T0 G1 E142 F840 G1 E-1 F100
19:56:26.897 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
19:56:54.897 make_crepe_action add_topping_shape started
19:56:54.902 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B198 F300.00 G1 A-25 B209 F300.00 G1 A-23 B220 F300.00 G1 A-22 B231 F300.00 G1 A-19 B241 F300.00 G1 A-16 B250 F300.00 G1 A-11 B259 F300.00 G1 A-3 B266 F300.00 G94
19:56:54.943 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B199 F300.00 G1 A-5 B210 F300.00 G1 A-10 B220 F300.00 G1 A-17 B231 F300.00 G1 A-25 B241 F300.00 G1 A-36 B250 F300.00 G1 A-50 B258 F300.00 G1 A-66 B264 F300.00 G94
19:56:55.019 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B254 F300.00 G1 A-91 B251 F300.00 G1 A-79 B245 F300.00 G1 A-69 B239 F300.00 G1 A-61 B231 F300.00 G1 A-54 B223 F300.00 G1 A-48 B214 F300.00 G1 A-49 B207 F300.00 G1 A-53 B201 F300.00 G1 A-56 B193 F300.00 G1 A-60 B188 F300.00 G1 A-65 B188 F300.00 G1 A-70 B192 F300.00 G1 A-74 B201 F300.00 G1 A-76 B211 F300.00 G1 A-74 B221 F300.00 G1 A-72 B230 F300.00 G1 A-69 B238 F300.00 G94
19:56:55.057 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F300.00 G1 A38 B199 F300.00 G1 A42 B206 F300.00 G1 A47 B212 F300.00 G1 A52 B217 F300.00 G1 A58 B220 F300.00 G1 A64 B223 F300.00 G1 A65 B230 F300.00 G1 A61 B241 F300.00 G1 A55 B252 F300.00 G1 A46 B264 F300.00 G94
19:56:55.057 make_crepe_action Uploaded 4 path macros. Starting execution.
19:56:55.114 duet1.duet_comm GCODE: G1 A-26 B198 F6000
19:56:58.392 duet1.duet_comm RUN MACRO: leadXpro_X2.g
19:56:58.392 duet2.duet_comm GCODE: T2 G1 E3.2 F120
19:56:59.992 duet1.duet_comm GCODE: G1 A-1 B199 F6000
19:57:00.793 duet2.duet_comm GCODE: T2 G1 E3.2 F120
19:57:00.796 duet1.duet_comm RUN MACRO: leadXpro_X.g
19:57:02.992 duet1.duet_comm GCODE: G1 A-103 B254 F6000
19:57:03.894 duet2.duet_comm GCODE: T2 G1 E7.1 F120
19:57:03.896 duet1.duet_comm RUN MACRO: leadXpro_P.g
19:57:07.592 duet1.duet_comm GCODE: G1 A35 B192 F6000
19:57:09.194 duet1.duet_comm RUN MACRO: leadXpro_L.g
19:57:09.194 duet2.duet_comm GCODE: T2 G1 E4.2 F120
19:57:12.000 duet1.duet_comm GCODE: G1 B5 F6000
19:57:12.003 make_crepe_action fold started
19:57:12.023 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
19:57:12.037 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
19:57:23.690 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
19:57:25.091 make_crepe_action fold started
19:57:25.094 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
19:57:31.191 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
19:57:32.190 make_crepe_action push_off started
19:57:32.194 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
19:57:39.791 make_crepe_action wipe_spatula started
19:57:39.795 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
19:57:43.193 duet1.duet_comm GCODE: G92 A0
19:57:43.203 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