Video

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Frame Analysis

19:17:41 1:49 observation 19:19:30
1 19:18:08
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2 19:18:35
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3 19:19:02
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:17:41 0.008s
prepare 0% 20:17:41 0.012s
oiling_optimized 0% 20:17:44 2.951s
spread_dough_optimized 0% 20:17:52 11.256s
add_topping_shape 0% 20:18:41 59.952s
fold 0% 20:18:58 76.950s
push_off 0% 20:19:18 97.256s
wipe_spatula 0% 20:19:26 104.852s

Machine Logs

20:17:41.585 make_crepe_action Executing make_crepe action
20:17:41.585 crepe_log_node Action status update: 1
20:17:41.586 make_crepe_action prepare started
20:17:41.589 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_20-17-41/session.json
20:17:41.590 duet1.duet_comm GCODE: G28 X Y
20:17:41.592 crepe_log_node Action status update: 2
20:17:41.599 duet1.duet_comm GCODE: G92 A0
20:17:41.607 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:17:44.537 make_crepe_action oiling_optimized started
20:17:44.538 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
20:17:44.543 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
20:17:46.138 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
20:17:46.179 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:17:46.580 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:17:49.662 make_crepe_action wait_until: timeout waiting for idle
20:17:49.665 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:17:49.666 duet1.duet_comm GCODE: G92 A0
20:17:49.677 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:17:52.842 make_crepe_action spread_dough_optimized started
20:17:52.843 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
20:17:52.848 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
20:17:55.039 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
20:17:55.084 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
20:17:55.484 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
20:18:13.538 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
20:18:41.538 make_crepe_action add_topping_shape started
20:18:41.547 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
20:18:41.585 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
20:18:41.640 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
20:18:41.678 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
20:18:41.680 make_crepe_action Uploaded 4 path macros. Starting execution.
20:18:41.717 duet1.duet_comm GCODE: G1 A-26 B198 F6000
20:18:44.936 duet1.duet_comm RUN MACRO: leadXpro_X2.g
20:18:44.944 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:18:46.537 duet1.duet_comm GCODE: G1 A-1 B199 F6000
20:18:47.340 duet1.duet_comm RUN MACRO: leadXpro_X.g
20:18:47.345 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:18:49.538 duet1.duet_comm GCODE: G1 A-103 B254 F6000
20:18:50.437 duet1.duet_comm RUN MACRO: leadXpro_P.g
20:18:50.445 duet2.duet_comm GCODE: T2 G1 E7.1 F120
20:18:54.146 duet1.duet_comm GCODE: G1 A35 B192 F6000
20:18:55.737 duet1.duet_comm RUN MACRO: leadXpro_L.g
20:18:55.743 duet2.duet_comm GCODE: T2 G1 E4.2 F120
20:18:58.536 make_crepe_action fold started
20:18:58.536 duet1.duet_comm GCODE: G1 B5 F6000
20:18:58.547 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
20:18:58.557 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
20:19:10.238 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
20:19:11.638 make_crepe_action fold started
20:19:11.643 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
20:19:17.838 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
20:19:18.841 make_crepe_action push_off started
20:19:18.848 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-61 Z-21.416666666666668 F3000 G1 Z50 Y-81 F8000 G1 Z120 Y-125.0 F8000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000
20:19:26.438 make_crepe_action wipe_spatula started
20:19:26.443 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
20:19:29.844 duet1.duet_comm GCODE: G92 A0
20:19:29.853 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