Video

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Frame Analysis

19:32:21 1:50 observation 19:34:11
1 19:32:48
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2 19:33:16
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3 19:33:43
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:32:21 0.005s
prepare 0% 20:32:21 0.010s
oiling_optimized 0% 20:32:24 3.135s
spread_dough_optimized 0% 20:32:33 11.437s
add_topping_shape 0% 20:33:21 60.132s
fold 0% 20:33:38 77.264s
push_off 0% 20:33:59 97.829s
wipe_spatula 0% 20:34:07 105.434s

Machine Logs

20:32:21.646 make_crepe_action Executing make_crepe action
20:32:21.647 crepe_log_node Action status update: 1
20:32:21.648 make_crepe_action prepare started
20:32:21.649 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_20-32-21/session.json
20:32:21.651 duet1.duet_comm GCODE: G28 X Y
20:32:21.651 crepe_log_node Action status update: 2
20:32:21.661 duet1.duet_comm GCODE: G92 A0
20:32:21.684 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:32:24.782 make_crepe_action oiling_optimized started
20:32:24.783 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
20:32:24.786 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
20:32:26.384 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
20:32:26.442 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:32:26.843 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:32:29.926 make_crepe_action wait_until: timeout waiting for idle
20:32:29.928 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:32:29.930 duet1.duet_comm GCODE: G92 A0
20:32:29.941 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:32:33.084 make_crepe_action spread_dough_optimized started
20:32:33.087 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
20:32:33.090 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
20:32:35.279 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
20:32:35.331 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
20:32:35.732 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
20:32:53.779 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
20:33:21.779 make_crepe_action add_topping_shape started
20:33:21.782 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-26 B216 F300.00 G1 A-25 B227 F300.00 G1 A-23 B238 F300.00 G1 A-22 B249 F300.00 G1 A-19 B259 F300.00 G1 A-16 B268 F300.00 G1 A-11 B277 F300.00 G1 A-3 B284 F300.00 G94
20:33:21.820 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A-1 B217 F300.00 G1 A-5 B228 F300.00 G1 A-10 B238 F300.00 G1 A-17 B249 F300.00 G1 A-25 B259 F300.00 G1 A-36 B268 F300.00 G1 A-50 B276 F300.00 G1 A-66 B282 F300.00 G94
20:33:21.865 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-103 B272 F300.00 G1 A-91 B269 F300.00 G1 A-79 B263 F300.00 G1 A-69 B257 F300.00 G1 A-61 B249 F300.00 G1 A-54 B241 F300.00 G1 A-48 B232 F300.00 G1 A-49 B225 F300.00 G1 A-53 B219 F300.00 G1 A-56 B211 F300.00 G1 A-60 B206 F300.00 G1 A-65 B206 F300.00 G1 A-70 B210 F300.00 G1 A-74 B219 F300.00 G1 A-76 B229 F300.00 G1 A-74 B239 F300.00 G1 A-72 B248 F300.00 G1 A-69 B256 F300.00 G94
20:33:21.904 make_crepe_action Uploaded 4 path macros. Starting execution.
20:33:21.917 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B210 F300.00 G1 A38 B217 F300.00 G1 A42 B224 F300.00 G1 A47 B230 F300.00 G1 A52 B235 F300.00 G1 A58 B238 F300.00 G1 A64 B241 F300.00 G1 A65 B248 F300.00 G1 A61 B259 F300.00 G1 A55 B270 F300.00 G1 A46 B282 F300.00 G94
20:33:21.956 duet1.duet_comm GCODE: G1 A-26 B216 F6000
20:33:25.285 duet2.duet_comm GCODE: T1 G1 E3.2 F120
20:33:25.289 duet1.duet_comm RUN MACRO: leadXpro_X2.g
20:33:26.880 duet1.duet_comm GCODE: G1 A-1 B217 F6000
20:33:27.683 duet1.duet_comm RUN MACRO: leadXpro_X.g
20:33:27.684 duet2.duet_comm GCODE: T1 G1 E3.2 F120
20:33:29.878 duet1.duet_comm GCODE: G1 A-103 B272 F6000
20:33:30.782 duet2.duet_comm GCODE: T1 G1 E7.1 F120
20:33:30.784 duet1.duet_comm RUN MACRO: leadXpro_P.g
20:33:34.489 duet1.duet_comm GCODE: G1 A35 B210 F6000
20:33:36.081 duet2.duet_comm GCODE: T1 G1 E4.2 F120
20:33:36.083 duet1.duet_comm RUN MACRO: leadXpro_L.g
20:33:38.880 make_crepe_action fold started
20:33:38.880 duet1.duet_comm GCODE: G1 B5 F6000
20:33:38.893 duet1.duet_comm GCODE: G1 A240 F4000 G92 A0
20:33:38.912 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
20:33:50.976 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
20:33:52.379 make_crepe_action fold started
20:33:52.383 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
20:33:58.482 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
20:33:59.476 make_crepe_action push_off started
20:33:59.478 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
20:34:07.082 make_crepe_action wipe_spatula started
20:34:07.088 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
20:34:10.486 duet1.duet_comm GCODE: G92 A0
20:34:10.500 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