Video

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Frame Analysis

19:43:09 1:27 observation 19:44:36
1 19:43:30
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2 19:43:52
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3 19:44:14
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:43:09 0.005s
prepare 0% 20:43:09 0.009s
oiling_optimized 0% 20:43:12 3.191s
spread_dough_optimized 0% 20:43:21 11.492s
add_topping_shape 0% 20:44:09 60.226s
fold 0% 20:44:09 60.229s
push_off 0% 20:44:25 75.425s
wipe_spatula 0% 20:44:32 82.992s

Machine Logs

20:43:09.598 make_crepe_action Executing make_crepe action
20:43:09.598 crepe_log_node Action status update: 1
20:43:09.599 make_crepe_action prepare started
20:43:09.600 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_20-43-09/session.json
20:43:09.602 crepe_log_node Action status update: 2
20:43:09.603 duet1.duet_comm GCODE: G28 X Y
20:43:09.613 duet1.duet_comm GCODE: G92 A0
20:43:09.622 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:43:12.790 make_crepe_action oiling_optimized started
20:43:12.791 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
20:43:12.795 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
20:43:14.394 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
20:43:14.435 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:43:14.841 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:43:17.922 make_crepe_action wait_until: timeout waiting for idle
20:43:17.927 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:43:17.929 duet1.duet_comm GCODE: G92 A0
20:43:17.940 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:43:21.090 make_crepe_action spread_dough_optimized started
20:43:21.091 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
20:43:21.096 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
20:43:23.291 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
20:43:23.352 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
20:43:23.754 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
20:43:41.796 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
20:44:09.795 make_crepe_action add_topping_shape started
20:44:09.796 make_crepe_action No topping selected for shape, skipping
20:44:09.797 make_crepe_action fold started
20:44:09.797 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
20:44:09.810 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
20:44:16.490 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
20:44:17.890 make_crepe_action fold started
20:44:17.894 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
20:44:23.997 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
20:44:25.000 make_crepe_action push_off started
20:44:25.002 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
20:44:32.591 make_crepe_action wipe_spatula started
20:44:32.594 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
20:44:35.992 duet1.duet_comm GCODE: G92 A0
20:44:36.006 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