Video

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Frame Analysis

17:27:59 1:45 observation 17:29:44
1 17:28:25
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2 17:28:51
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3 17:29:17
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Phases

Phase Detail Progress Time Elapsed
init 0% 18:27:59 0.008s
prepare 0% 18:27:59 0.012s
oiling_optimized 0% 18:28:02 3.154s
spread_dough_optimized 0% 18:28:10 11.456s
add_topping_shape 0% 18:28:59 60.156s
fold 0% 18:29:12 73.365s
push_off 0% 18:29:32 93.288s
wipe_spatula 0% 18:29:40 100.861s

Machine Logs

18:27:59.458 make_crepe_action Executing make_crepe action
18:27:59.459 crepe_log_node Action status update: 1
18:27:59.460 make_crepe_action prepare started
18:27:59.462 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-06_18-27-59/session.json
18:27:59.464 duet1.duet_comm GCODE: G28 X Y
18:27:59.466 crepe_log_node Action status update: 2
18:27:59.474 duet1.duet_comm GCODE: G92 A0
18:27:59.483 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:28:02.614 make_crepe_action oiling_optimized started
18:28:02.615 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
18:28:02.619 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
18:28:04.215 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
18:28:04.260 duet1.duet_comm RUN MACRO: oiling_optimized.g
18:28:04.661 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
18:28:07.746 make_crepe_action wait_until: timeout waiting for idle
18:28:07.751 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
18:28:07.761 duet1.duet_comm GCODE: G92 A0
18:28:07.789 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:28:10.916 make_crepe_action spread_dough_optimized started
18:28:10.917 make_crepe_action Full Duration: 12.3s; Speed: 161.3 mm/s; r_critical: 46.2mm; r_stop: 46.2mm ;duration_stop: 11.0s
18:28:10.918 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
18:28:13.129 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.50 F103.89 G1 A47.8 B155.1 Z-14.45 F103.89 G1 A87.6 B158.6 Z-14.40 F103.89 G1 A128.5 B162.1 Z-14.35 F103.89 G1 A170.4 B165.7 Z-14.30 F103.89 G1 A213.7 B169.5 Z-14.25 F103.89 G1 A258.3 B173.4 Z-14.20 F103.89 G1 A304.4 B177.4 Z-14.14 F103.89 G1 A352.2 B181.5 Z-14.08 F103.89 G1 A401.8 B185.9 Z-14.02 F103.89 G1 A453.5 B190.4 Z-13.96 F103.89 G1 A507.6 B195.1 Z-13.89 F103.89 G1 A564.5 B200.1 Z-13.82 F103.89 G1 A624.6 B205.3 Z-13.75 F103.89 G1 A688.6 B211.0 Z-13.67 F103.89 G1 A757.3 B217.0 Z-13.59 F103.89 G1 A831.8 B223.6 Z-13.50 F103.89 G1 A914.2 B230.9 Z-13.40 F103.89 G1 A1007.5 B239.3 Z-13.29 F103.89 G1 A1117.7 B249.4 Z-13.16 F103.89 G94 G1 A1267.5 B274.3 Z-12.50 F12000.0 G1 A1680.4 F12000.0 G1 Z0 A1860.4 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
18:28:13.176 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
18:28:13.576 duet2.duet_comm GCODE: T0 G1 E179 F840 G1 E-1 F100
18:28:31.613 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
18:28:59.617 make_crepe_action add_topping_shape started
18:28:59.625 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-16 B199 F500.00 G1 A-13 B209 F500.00 G1 A-11 B219 F500.00 G1 A-7 B228 F500.00 G1 A-2 B236 F500.00 G1 A4 B243 F500.00 G1 A12 B248 F500.00 G1 A22 B252 F500.00 G94
18:28:59.663 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A9 B192 F500.00 G1 A6 B204 F500.00 G1 A2 B215 F500.00 G1 A-2 B226 F500.00 G1 A-8 B237 F500.00 G1 A-16 B249 F500.00 G1 A-28 B260 F500.00 G1 A-46 B270 F500.00 G94
18:28:59.714 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-93 B268 F500.00 G1 A-76 B260 F500.00 G1 A-63 B252 F500.00 G1 A-54 B243 F500.00 G1 A-46 B233 F500.00 G1 A-41 B223 F500.00 G1 A-36 B214 F500.00 G1 A-38 B207 F500.00 G1 A-42 B202 F500.00 G1 A-47 B197 F500.00 G1 A-51 B193 F500.00 G1 A-57 B194 F500.00 G1 A-62 B200 F500.00 G1 A-66 B209 F500.00 G1 A-66 B220 F500.00 G1 A-63 B228 F500.00 G1 A-59 B236 F500.00 G1 A-53 B242 F500.00 G94
18:28:59.756 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F500.00 G1 A38 B199 F500.00 G1 A42 B206 F500.00 G1 A47 B212 F500.00 G1 A52 B217 F500.00 G1 A58 B220 F500.00 G1 A64 B223 F500.00 G1 A65 B230 F500.00 G1 A61 B241 F500.00 G1 A55 B252 F500.00 G1 A46 B264 F500.00 G94
18:28:59.756 make_crepe_action Uploaded 4 path macros. Starting execution.
18:28:59.800 duet1.duet_comm GCODE: G1 A-16 B199 F6000
18:29:02.914 duet1.duet_comm RUN MACRO: leadXpro_X2.g
18:29:02.914 duet2.duet_comm GCODE: T2 G1 E2.4 F150
18:29:04.125 duet1.duet_comm GCODE: G1 A9 B192 F6000
18:29:04.923 duet1.duet_comm RUN MACRO: leadXpro_X.g
18:29:04.930 duet2.duet_comm GCODE: T2 G1 E2.4 F150
18:29:06.224 duet1.duet_comm GCODE: G1 A-93 B268 F6000
18:29:07.228 duet1.duet_comm RUN MACRO: leadXpro_P.g
18:29:07.241 duet2.duet_comm GCODE: T2 G1 E5.3 F150
18:29:09.814 duet1.duet_comm GCODE: G1 A35 B192 F6000
18:29:11.315 duet2.duet_comm GCODE: T2 G1 E3.1 F150
18:29:11.317 duet1.duet_comm RUN MACRO: leadXpro_L.g
18:29:12.818 duet1.duet_comm GCODE: G1 B5 F6000
18:29:12.818 make_crepe_action fold started
18:29:12.834 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
18:29:12.846 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
18:29:24.213 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
18:29:25.616 make_crepe_action fold started
18:29:25.622 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
18:29:31.716 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
18:29:32.716 make_crepe_action push_off started
18:29:32.718 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
18:29:40.319 make_crepe_action wipe_spatula started
18:29:40.324 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
18:29:43.718 duet1.duet_comm GCODE: G92 A0
18:29:43.730 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 -12.5
z_spread_start -14.5
z_thread_pitch 15