Video

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Frame Analysis

19:25:20 1:49 observation 19:27:09
1 19:25:47
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2 19:26:14
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3 19:26:41
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:25:20 0.007s
prepare 0% 20:25:20 0.011s
oiling_optimized 0% 20:25:23 3.179s
spread_dough_optimized 0% 20:25:32 11.484s
add_topping_shape 0% 20:26:20 60.194s
fold 0% 20:26:37 77.174s
push_off 0% 20:26:58 97.277s
wipe_spatula 0% 20:27:05 104.874s

Machine Logs

20:25:20.763 make_crepe_action Executing make_crepe action
20:25:20.763 crepe_log_node Action status update: 4, 1
20:25:20.764 make_crepe_action prepare started
20:25:20.766 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_20-25-20/session.json
20:25:20.767 duet1.duet_comm GCODE: G28 X Y
20:25:20.769 crepe_log_node Action status update: 4, 2
20:25:20.777 duet1.duet_comm GCODE: G92 A0
20:25:20.786 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:25:23.943 make_crepe_action oiling_optimized started
20:25:23.944 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
20:25:23.949 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
20:25:25.546 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
20:25:25.588 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:25:25.989 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:25:29.071 make_crepe_action wait_until: timeout waiting for idle
20:25:29.072 duet1.duet_comm GCODE: G92 A0
20:25:29.075 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:25:29.083 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:25:32.242 make_crepe_action spread_dough_optimized started
20:25:32.244 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
20:25:32.255 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
20:25:34.438 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
20:25:34.482 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
20:25:34.883 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
20:25:52.937 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
20:26:20.937 make_crepe_action add_topping_shape started
20:26:20.944 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
20:26:20.985 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
20:26:21.023 make_crepe_action Uploaded 4 path macros. Starting execution.
20:26:21.037 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
20:26:21.076 duet1.duet_comm GCODE: G1 A-26 B198 F6000
20:26:21.089 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
20:26:24.338 duet1.duet_comm RUN MACRO: leadXpro_X2.g
20:26:24.343 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:26:25.937 duet1.duet_comm GCODE: G1 A-1 B199 F6000
20:26:26.738 duet1.duet_comm RUN MACRO: leadXpro_X.g
20:26:26.746 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:26:28.936 duet1.duet_comm GCODE: G1 A-103 B254 F6000
20:26:29.839 duet1.duet_comm RUN MACRO: leadXpro_P.g
20:26:29.845 duet2.duet_comm GCODE: T2 G1 E7.1 F120
20:26:33.545 duet1.duet_comm GCODE: G1 A35 B192 F6000
20:26:35.137 duet1.duet_comm RUN MACRO: leadXpro_L.g
20:26:35.144 duet2.duet_comm GCODE: T2 G1 E4.2 F120
20:26:37.938 duet1.duet_comm GCODE: G1 B5 F6000
20:26:37.939 make_crepe_action fold started
20:26:37.948 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0
20:26:37.955 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
20:26:49.537 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
20:26:50.937 make_crepe_action fold started
20:26:50.940 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
20:26:57.041 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
20:26:58.042 make_crepe_action push_off started
20:26:58.046 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
20:27:05.638 make_crepe_action wipe_spatula started
20:27:05.644 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
20:27:09.044 duet1.duet_comm GCODE: G92 A0
20:27:09.058 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