Video

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Frame Analysis

20:08:10 1:48 observation 20:09:58
1 20:08:37
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2 20:09:04
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3 20:09:31
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:08:10 0.006s
prepare 0% 21:08:10 0.010s
oiling_optimized 0% 21:08:13 3.215s
spread_dough_optimized 0% 21:08:21 11.514s
add_topping_shape 0% 21:09:10 60.219s
fold 0% 21:09:27 76.914s
push_off 0% 21:09:47 96.816s
wipe_spatula 0% 21:09:54 104.417s

Machine Logs

21:08:10.373 make_crepe_action Executing make_crepe action
21:08:10.373 crepe_log_node Action status update: 1
21:08:10.374 make_crepe_action prepare started
21:08:10.376 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_21-08-10/session.json
21:08:10.379 crepe_log_node Action status update: 2
21:08:10.391 duet1.duet_comm GCODE: G28 X Y
21:08:10.400 duet1.duet_comm GCODE: G92 A0
21:08:10.411 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
21:08:13.589 make_crepe_action oiling_optimized started
21:08:13.590 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
21:08:13.593 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
21:08:15.191 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
21:08:15.233 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:08:15.641 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:08:18.716 make_crepe_action wait_until: timeout waiting for idle
21:08:18.718 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:08:18.719 duet1.duet_comm GCODE: G92 A0
21:08:18.729 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
21:08:21.889 make_crepe_action spread_dough_optimized started
21:08:21.890 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
21:08:21.893 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
21:08:24.092 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
21:08:24.137 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
21:08:24.542 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
21:08:42.595 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
21:09:10.593 make_crepe_action add_topping_shape started
21:09:10.595 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
21:09:10.652 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
21:09:10.701 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
21:09:10.740 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
21:09:10.741 make_crepe_action Uploaded 4 path macros. Starting execution.
21:09:10.795 duet1.duet_comm GCODE: G1 A-16 B199 F6000
21:09:13.988 duet1.duet_comm RUN MACRO: leadXpro_X2.g
21:09:13.988 duet2.duet_comm GCODE: T2 G1 E3.2 F120
21:09:15.690 duet1.duet_comm GCODE: G1 A9 B192 F6000
21:09:16.494 duet2.duet_comm GCODE: T2 G1 E3.2 F120
21:09:16.494 duet1.duet_comm RUN MACRO: leadXpro_X.g
21:09:18.189 duet1.duet_comm GCODE: G1 A-93 B268 F6000
21:09:19.190 duet1.duet_comm RUN MACRO: leadXpro_P.g
21:09:19.190 duet2.duet_comm GCODE: T2 G1 E7.1 F120
21:09:22.991 duet1.duet_comm GCODE: G1 A35 B192 F6000
21:09:24.496 duet2.duet_comm GCODE: T2 G1 E4.2 F120
21:09:24.496 duet1.duet_comm RUN MACRO: leadXpro_L.g
21:09:27.288 make_crepe_action fold started
21:09:27.288 duet1.duet_comm GCODE: G1 B5 F6000
21:09:27.297 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
21:09:27.307 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
21:09:38.689 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
21:09:40.090 make_crepe_action fold started
21:09:40.093 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
21:09:46.191 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
21:09:47.190 make_crepe_action push_off started
21:09:47.193 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
21:09:54.791 make_crepe_action wipe_spatula started
21:09:54.794 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
21:09:58.189 duet1.duet_comm GCODE: G92 A0
21:09:58.200 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