Video

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Frame Analysis

20:00:58 1:49 observation 20:02:47
1 20:01:25
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2 20:01:52
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3 20:02:19
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:00:58 0.005s
prepare 0% 21:00:58 0.009s
oiling_optimized 0% 21:01:01 3.140s
spread_dough_optimized 0% 21:01:09 11.441s
add_topping_shape 0% 21:01:58 60.141s
fold 0% 21:02:15 77.050s
push_off 0% 21:02:35 97.040s
wipe_spatula 0% 21:02:42 104.641s

Machine Logs

21:00:58.349 make_crepe_action Executing make_crepe action
21:00:58.349 crepe_log_node Action status update: 1
21:00:58.350 make_crepe_action prepare started
21:00:58.352 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_21-00-58/session.json
21:00:58.354 crepe_log_node Action status update: 2
21:00:58.355 duet1.duet_comm GCODE: G28 X Y
21:00:58.364 duet1.duet_comm GCODE: G92 A0
21:00:58.372 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
21:01:01.490 make_crepe_action oiling_optimized started
21:01:01.491 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
21:01:01.494 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
21:01:03.092 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
21:01:03.139 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:01:03.541 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:01:06.625 make_crepe_action wait_until: timeout waiting for idle
21:01:06.627 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:01:06.629 duet1.duet_comm GCODE: G92 A0
21:01:06.640 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
21:01:09.791 make_crepe_action spread_dough_optimized started
21:01:09.792 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
21:01:09.795 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
21:01:11.992 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
21:01:12.040 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
21:01:12.440 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
21:01:30.491 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
21:01:58.491 make_crepe_action add_topping_shape started
21:01:58.493 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-16 B217 F300.00 G1 A-13 B227 F300.00 G1 A-11 B237 F300.00 G1 A-7 B246 F300.00 G1 A-2 B254 F300.00 G1 A4 B261 F300.00 G1 A12 B266 F300.00 G1 A22 B270 F300.00 G94
21:01:58.533 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A9 B210 F300.00 G1 A6 B222 F300.00 G1 A2 B233 F300.00 G1 A-2 B244 F300.00 G1 A-8 B255 F300.00 G1 A-16 B267 F300.00 G1 A-28 B278 F300.00 G1 A-46 B288 F300.00 G94
21:01:58.573 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-93 B286 F300.00 G1 A-76 B278 F300.00 G1 A-63 B270 F300.00 G1 A-54 B261 F300.00 G1 A-46 B251 F300.00 G1 A-41 B241 F300.00 G1 A-36 B232 F300.00 G1 A-38 B225 F300.00 G1 A-42 B220 F300.00 G1 A-47 B215 F300.00 G1 A-51 B211 F300.00 G1 A-57 B212 F300.00 G1 A-62 B218 F300.00 G1 A-66 B227 F300.00 G1 A-66 B238 F300.00 G1 A-63 B246 F300.00 G1 A-59 B254 F300.00 G1 A-53 B260 F300.00 G94
21:01:58.612 make_crepe_action Uploaded 4 path macros. Starting execution.
21:01:58.625 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
21:01:58.668 duet1.duet_comm GCODE: G1 A-16 B217 F6000
21:02:01.991 duet1.duet_comm RUN MACRO: leadXpro_X2.g
21:02:01.991 duet2.duet_comm GCODE: T1 G1 E3.2 F120
21:02:03.696 duet1.duet_comm GCODE: G1 A9 B210 F6000
21:02:04.496 duet1.duet_comm RUN MACRO: leadXpro_X.g
21:02:04.498 duet2.duet_comm GCODE: T1 G1 E3.2 F120
21:02:06.294 duet1.duet_comm GCODE: G1 A-93 B286 F6000
21:02:07.297 duet2.duet_comm GCODE: T1 G1 E7.1 F120
21:02:07.297 duet1.duet_comm RUN MACRO: leadXpro_P.g
21:02:11.091 duet1.duet_comm GCODE: G1 A35 B210 F6000
21:02:12.590 duet2.duet_comm GCODE: T1 G1 E4.2 F120
21:02:12.591 duet1.duet_comm RUN MACRO: leadXpro_L.g
21:02:15.394 make_crepe_action fold started
21:02:15.396 duet1.duet_comm GCODE: G1 B5 F6000
21:02:15.411 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
21:02:15.423 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
21:02:26.889 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
21:02:28.290 make_crepe_action fold started
21:02:28.293 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
21:02:34.391 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
21:02:35.390 make_crepe_action push_off started
21:02:35.394 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
21:02:42.991 make_crepe_action wipe_spatula started
21:02:42.996 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
21:02:46.395 duet1.duet_comm GCODE: G92 A0
21:02:46.406 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