Video

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Frame Analysis

19:06:46 1:50 observation 19:08:36
1 19:07:13
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2 19:07:41
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3 19:08:08
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:06:46 0.006s
prepare 0% 20:06:46 0.009s
oiling_optimized 0% 20:06:50 3.177s
spread_dough_optimized 0% 20:06:58 11.479s
add_topping_shape 0% 20:07:47 60.208s
fold 0% 20:08:04 77.180s
push_off 0% 20:08:24 97.380s
wipe_spatula 0% 20:08:32 105.280s

Machine Logs

20:06:46.912 make_crepe_action Executing make_crepe action
20:06:46.913 crepe_log_node Action status update: 1
20:06:46.914 make_crepe_action prepare started
20:06:46.916 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_20-06-46/session.json
20:06:46.918 crepe_log_node Action status update: 2
20:06:46.918 duet1.duet_comm GCODE: G28 X Y
20:06:46.928 duet1.duet_comm GCODE: G92 A0
20:06:46.938 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:06:50.091 make_crepe_action oiling_optimized started
20:06:50.092 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
20:06:50.094 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
20:06:51.691 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
20:06:51.731 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:06:52.132 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:06:55.215 make_crepe_action wait_until: timeout waiting for idle
20:06:55.216 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:06:55.219 duet1.duet_comm GCODE: G92 A0
20:06:55.233 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:06:58.393 make_crepe_action spread_dough_optimized started
20:06:58.394 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
20:06:58.395 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
20:07:00.594 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-15.50 F103.89 G1 A47.8 B155.1 Z-15.45 F103.89 G1 A87.6 B158.6 Z-15.40 F103.89 G1 A128.5 B162.1 Z-15.35 F103.89 G1 A170.4 B165.7 Z-15.30 F103.89 G1 A213.7 B169.5 Z-15.25 F103.89 G1 A258.3 B173.4 Z-15.20 F103.89 G1 A304.4 B177.4 Z-15.14 F103.89 G1 A352.2 B181.5 Z-15.08 F103.89 G1 A401.8 B185.9 Z-15.02 F103.89 G1 A453.5 B190.4 Z-14.96 F103.89 G1 A507.6 B195.1 Z-14.89 F103.89 G1 A564.5 B200.1 Z-14.82 F103.89 G1 A624.6 B205.3 Z-14.75 F103.89 G1 A688.6 B211.0 Z-14.67 F103.89 G1 A757.3 B217.0 Z-14.59 F103.89 G1 A831.8 B223.6 Z-14.50 F103.89 G1 A914.2 B230.9 Z-14.40 F103.89 G1 A1007.5 B239.3 Z-14.29 F103.89 G1 A1117.7 B249.4 Z-14.16 F103.89 G94 G1 A1267.5 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
20:07:00.644 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
20:07:01.044 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
20:07:19.094 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
20:07:47.094 make_crepe_action add_topping_shape started
20:07:47.097 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
20:07:47.133 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
20:07:47.172 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
20:07:47.211 make_crepe_action Uploaded 4 path macros. Starting execution.
20:07:47.226 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
20:07:47.266 duet1.duet_comm GCODE: G1 A-26 B198 F6000
20:07:50.493 duet1.duet_comm RUN MACRO: leadXpro_X2.g
20:07:50.493 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:07:52.094 duet1.duet_comm GCODE: G1 A-1 B199 F6000
20:07:52.891 duet1.duet_comm RUN MACRO: leadXpro_X.g
20:07:52.891 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:07:55.092 duet1.duet_comm GCODE: G1 A-103 B254 F6000
20:07:55.994 duet2.duet_comm GCODE: T2 G1 E7.1 F120
20:07:55.994 duet1.duet_comm RUN MACRO: leadXpro_P.g
20:07:59.692 duet1.duet_comm GCODE: G1 A35 B192 F6000
20:08:01.298 duet2.duet_comm GCODE: T2 G1 E4.2 F120
20:08:01.298 duet1.duet_comm RUN MACRO: leadXpro_L.g
20:08:04.092 duet1.duet_comm GCODE: G1 B5 F6000
20:08:04.092 make_crepe_action fold started
20:08:04.103 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
20:08:04.112 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-47 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
20:08:15.794 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
20:08:17.191 make_crepe_action fold started
20:08:17.193 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-47 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
20:08:23.291 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
20:08:24.293 make_crepe_action push_off started
20:08:24.297 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 Z120 Y-123.0 F6000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000
20:08:32.194 make_crepe_action wipe_spatula started
20:08:32.198 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
20:08:35.593 duet1.duet_comm GCODE: G92 A0
20:08:35.602 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0028
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