Video

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Frame Analysis

17:11:48 1:46 observation 17:13:34
1 17:12:14
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2 17:12:41
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3 17:13:07
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Phases

Phase Detail Progress Time Elapsed
init 0% 18:11:48 0.008s
prepare 0% 18:11:48 0.012s
oiling_optimized 0% 18:11:51 3.159s
spread_dough_optimized 0% 18:12:00 11.460s
add_topping_shape 0% 18:12:48 60.159s
fold 0% 18:13:02 73.564s
push_off 0% 18:13:22 93.561s
wipe_spatula 0% 18:13:29 101.161s

Machine Logs

18:11:48.754 make_crepe_action Executing make_crepe action
18:11:48.754 crepe_log_node Action status update: 1
18:11:48.755 make_crepe_action prepare started
18:11:48.758 duet1.duet_comm GCODE: G28 X Y
18:11:48.758 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-06_18-11-48/session.json
18:11:48.760 crepe_log_node Action status update: 2
18:11:48.768 duet1.duet_comm GCODE: G92 A0
18:11:48.779 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:11:51.913 make_crepe_action oiling_optimized started
18:11:51.914 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
18:11:51.919 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
18:11:53.521 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
18:11:53.563 duet1.duet_comm RUN MACRO: oiling_optimized.g
18:11:53.964 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
18:11:57.049 make_crepe_action wait_until: timeout waiting for idle
18:11:57.055 duet1.duet_comm GCODE: G92 A0
18:11:57.059 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
18:11:57.074 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:12:00.215 make_crepe_action spread_dough_optimized started
18:12:00.217 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
18:12:00.221 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-15.50 A9.04 B151.74 F6000
18:12:02.417 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
18:12:02.470 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
18:12:02.871 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
18:12:20.913 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
18:12:48.914 make_crepe_action add_topping_shape started
18:12:48.916 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-16 B217 F500.00 G1 A-13 B227 F500.00 G1 A-11 B237 F500.00 G1 A-7 B246 F500.00 G1 A-2 B254 F500.00 G1 A4 B261 F500.00 G1 A12 B266 F500.00 G1 A22 B270 F500.00 G94
18:12:48.971 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A9 B210 F500.00 G1 A6 B222 F500.00 G1 A2 B233 F500.00 G1 A-2 B244 F500.00 G1 A-8 B255 F500.00 G1 A-16 B267 F500.00 G1 A-28 B278 F500.00 G1 A-46 B288 F500.00 G94
18:12:49.022 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-93 B286 F500.00 G1 A-76 B278 F500.00 G1 A-63 B270 F500.00 G1 A-54 B261 F500.00 G1 A-46 B251 F500.00 G1 A-41 B241 F500.00 G1 A-36 B232 F500.00 G1 A-38 B225 F500.00 G1 A-42 B220 F500.00 G1 A-47 B215 F500.00 G1 A-51 B211 F500.00 G1 A-57 B212 F500.00 G1 A-62 B218 F500.00 G1 A-66 B227 F500.00 G1 A-66 B238 F500.00 G1 A-63 B246 F500.00 G1 A-59 B254 F500.00 G1 A-53 B260 F500.00 G94
18:12:49.062 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B210 F500.00 G1 A38 B217 F500.00 G1 A42 B224 F500.00 G1 A47 B230 F500.00 G1 A52 B235 F500.00 G1 A58 B238 F500.00 G1 A64 B241 F500.00 G1 A65 B248 F500.00 G1 A61 B259 F500.00 G1 A55 B270 F500.00 G1 A46 B282 F500.00 G94
18:12:49.062 make_crepe_action Uploaded 4 path macros. Starting execution.
18:12:49.115 duet1.duet_comm GCODE: G1 A-16 B217 F6000
18:12:52.415 duet1.duet_comm RUN MACRO: leadXpro_X2.g
18:12:52.415 duet2.duet_comm GCODE: T1 G1 E2.4 F150
18:12:53.622 duet1.duet_comm GCODE: G1 A9 B210 F6000
18:12:54.424 duet1.duet_comm RUN MACRO: leadXpro_X.g
18:12:54.433 duet2.duet_comm GCODE: T1 G1 E2.4 F150
18:12:55.717 duet1.duet_comm GCODE: G1 A-93 B286 F6000
18:12:56.716 duet2.duet_comm GCODE: T1 G1 E5.3 F150
18:12:56.718 duet1.duet_comm RUN MACRO: leadXpro_P.g
18:12:59.316 duet1.duet_comm GCODE: G1 A35 B210 F6000
18:13:00.815 duet2.duet_comm GCODE: T1 G1 E3.1 F150
18:13:00.816 duet1.duet_comm RUN MACRO: leadXpro_L.g
18:13:02.316 make_crepe_action fold started
18:13:02.316 duet1.duet_comm GCODE: G1 B5 F6000
18:13:02.326 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
18:13:02.337 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
18:13:13.816 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
18:13:15.214 make_crepe_action fold started
18:13:15.219 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
18:13:21.317 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
18:13:22.316 make_crepe_action push_off started
18:13:22.320 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
18:13:29.915 make_crepe_action wipe_spatula started
18:13:29.920 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
18:13:33.314 duet1.duet_comm GCODE: G92 A0
18:13:33.325 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 0.03
description Blueberry topping
display_name Blueberry Sauce
dm 318
flowrate 2.5
name blueberry
port 1

dispense.toppings.chocolate

density 0.03
description Rich chocolate topping
display_name Chocolate Sauce
dm 300
flowrate 2.5
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