Video

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Frame Analysis

20:10:41 1:27 observation 20:12:08
1 20:11:02
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2 20:11:24
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3 20:11:46
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:10:41 0.007s
prepare 0% 21:10:41 0.011s
oiling_optimized 0% 21:10:44 3.036s
spread_dough_optimized 0% 21:10:53 11.334s
add_topping_shape 0% 21:11:41 60.037s
fold 0% 21:11:41 60.039s
push_off 0% 21:11:57 75.251s
wipe_spatula 0% 21:12:04 82.836s

Machine Logs

21:10:41.855 make_crepe_action Executing make_crepe action
21:10:41.855 crepe_log_node Action status update: 1
21:10:41.857 make_crepe_action prepare started
21:10:41.858 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-05_21-10-41/session.json
21:10:41.859 duet1.duet_comm GCODE: G28 X Y
21:10:41.861 crepe_log_node Action status update: 2
21:10:41.869 duet1.duet_comm GCODE: G92 A0
21:10:41.890 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
21:10:44.892 make_crepe_action oiling_optimized started
21:10:44.893 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
21:10:44.898 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
21:10:46.489 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
21:10:46.531 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:10:46.940 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:10:50.014 make_crepe_action wait_until: timeout waiting for idle
21:10:50.016 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:10:50.018 duet1.duet_comm GCODE: G92 A0
21:10:50.028 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
21:10:53.189 make_crepe_action spread_dough_optimized started
21:10:53.192 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
21:10:53.195 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
21:10:55.388 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
21:10:55.435 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
21:10:55.841 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
21:11:13.892 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
21:11:41.892 make_crepe_action add_topping_shape started
21:11:41.893 make_crepe_action No topping selected for shape, skipping
21:11:41.895 make_crepe_action fold started
21:11:41.896 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
21:11:41.909 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
21:11:48.588 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
21:11:49.992 make_crepe_action fold started
21:11:49.999 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
21:11:56.091 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
21:11:57.093 make_crepe_action push_off started
21:11:57.100 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
21:12:04.690 make_crepe_action wipe_spatula started
21:12:04.695 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
21:12:08.093 duet1.duet_comm GCODE: G92 A0
21:12:08.106 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