Video

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Frame Analysis

19:49:05 1:48 observation 19:50:53
1 19:49:32
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2 19:49:59
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3 19:50:26
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:49:05 0.008s
prepare 0% 20:49:05 0.012s
oiling_optimized 0% 20:49:08 3.152s
spread_dough_optimized 0% 20:49:16 11.452s
add_topping_shape 0% 20:50:05 60.156s
fold 0% 20:50:21 76.777s
push_off 0% 20:50:41 96.651s
wipe_spatula 0% 20:50:49 104.258s

Machine Logs

20:49:05.138 make_crepe_action Executing make_crepe action
20:49:05.138 crepe_log_node Action status update: 1
20:49:05.139 make_crepe_action prepare started
20:49:05.141 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_20-49-05/session.json
20:49:05.143 duet1.duet_comm GCODE: G28 X Y
20:49:05.144 crepe_log_node Action status update: 2
20:49:05.154 duet1.duet_comm GCODE: G92 A0
20:49:05.163 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:49:08.291 make_crepe_action oiling_optimized started
20:49:08.292 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
20:49:08.295 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
20:49:09.889 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
20:49:09.937 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:49:10.341 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:49:13.420 make_crepe_action wait_until: timeout waiting for idle
20:49:13.424 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:49:13.425 duet1.duet_comm GCODE: G92 A0
20:49:13.438 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
20:49:16.591 make_crepe_action spread_dough_optimized started
20:49:16.592 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
20:49:16.597 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
20:49:18.800 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
20:49:18.846 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
20:49:19.247 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
20:49:37.295 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
20:50:05.295 make_crepe_action add_topping_shape started
20:50:05.298 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-16 B199 F300.00 G1 A-13 B209 F300.00 G1 A-11 B219 F300.00 G1 A-7 B228 F300.00 G1 A-2 B236 F300.00 G1 A4 B243 F300.00 G1 A12 B248 F300.00 G1 A22 B252 F300.00 G94
20:50:05.340 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A9 B192 F300.00 G1 A6 B204 F300.00 G1 A2 B215 F300.00 G1 A-2 B226 F300.00 G1 A-8 B237 F300.00 G1 A-16 B249 F300.00 G1 A-28 B260 F300.00 G1 A-46 B270 F300.00 G94
20:50:05.394 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-93 B268 F300.00 G1 A-76 B260 F300.00 G1 A-63 B252 F300.00 G1 A-54 B243 F300.00 G1 A-46 B233 F300.00 G1 A-41 B223 F300.00 G1 A-36 B214 F300.00 G1 A-38 B207 F300.00 G1 A-42 B202 F300.00 G1 A-47 B197 F300.00 G1 A-51 B193 F300.00 G1 A-57 B194 F300.00 G1 A-62 B200 F300.00 G1 A-66 B209 F300.00 G1 A-66 B220 F300.00 G1 A-63 B228 F300.00 G1 A-59 B236 F300.00 G1 A-53 B242 F300.00 G94
20:50:05.435 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
20:50:05.436 make_crepe_action Uploaded 4 path macros. Starting execution.
20:50:05.476 duet1.duet_comm GCODE: G1 A-16 B199 F6000
20:50:08.591 duet1.duet_comm RUN MACRO: leadXpro_X2.g
20:50:08.591 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:50:10.300 duet1.duet_comm GCODE: G1 A9 B192 F6000
20:50:11.090 duet2.duet_comm GCODE: T2 G1 E3.2 F120
20:50:11.090 duet1.duet_comm RUN MACRO: leadXpro_X.g
20:50:12.789 duet1.duet_comm GCODE: G1 A-93 B268 F6000
20:50:13.794 duet2.duet_comm GCODE: T2 G1 E7.1 F120
20:50:13.801 duet1.duet_comm RUN MACRO: leadXpro_P.g
20:50:17.593 duet1.duet_comm GCODE: G1 A35 B192 F6000
20:50:19.090 duet1.duet_comm RUN MACRO: leadXpro_L.g
20:50:19.090 duet2.duet_comm GCODE: T2 G1 E4.2 F120
20:50:21.891 duet1.duet_comm GCODE: G1 B5 F6000
20:50:21.891 make_crepe_action fold started
20:50:21.911 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
20:50:21.923 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
20:50:33.293 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
20:50:34.689 make_crepe_action fold started
20:50:34.693 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
20:50:40.790 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
20:50:41.790 make_crepe_action push_off started
20:50:41.793 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
20:50:49.397 make_crepe_action wipe_spatula started
20:50:49.401 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
20:50:52.790 duet1.duet_comm GCODE: G92 A0
20:50:52.801 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