Video

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Frame Analysis

21:04:02 1:47 observation 21:05:49
1 21:04:28
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2 21:04:55
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3 21:05:22
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Phases

Phase Detail Progress Time Elapsed
init 0% 22:04:02 0.006s
prepare 0% 22:04:02 0.011s
oiling_optimized 0% 22:04:06 3.174s
spread_dough_optimized 0% 22:04:14 11.475s
add_topping_shape 0% 22:05:03 60.981s
fold 0% 22:05:17 74.374s
push_off 0% 22:05:37 94.376s
wipe_spatula 0% 22:05:44 101.975s

Machine Logs

22:04:02.939 make_crepe_action Executing make_crepe action
22:04:02.939 crepe_log_node Action status update: 1
22:04:02.940 make_crepe_action prepare started
22:04:02.942 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-06_22-04-02/session.json
22:04:02.945 duet1.duet_comm GCODE: G28 X Y
22:04:02.945 crepe_log_node Action status update: 2
22:04:02.955 duet1.duet_comm GCODE: G92 A0
22:04:02.963 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:04:06.114 make_crepe_action oiling_optimized started
22:04:06.115 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
22:04:06.117 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
22:04:07.715 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
22:04:07.757 duet1.duet_comm RUN MACRO: oiling_optimized.g
22:04:08.159 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
22:04:11.241 make_crepe_action wait_until: timeout waiting for idle
22:04:11.243 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
22:04:11.246 duet1.duet_comm GCODE: G92 A0
22:04:11.256 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:04:14.415 make_crepe_action spread_dough_optimized started
22:04:14.416 make_crepe_action Full Duration: 13.2s; Speed: 155.6 mm/s; r_critical: 44.6mm; r_stop: 44.6mm ;duration_stop: 11.9s
22:04:14.420 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.00 A9.04 B151.74 F6000
22:04:16.612 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.00 F96.14 G1 A49.5 B155.1 Z-13.95 F96.14 G1 A90.9 B158.6 Z-13.90 F96.14 G1 A133.5 B162.2 Z-13.85 F96.14 G1 A177.3 B165.9 Z-13.80 F96.14 G1 A222.4 B169.7 Z-13.75 F96.14 G1 A268.9 B173.6 Z-13.69 F96.14 G1 A317.1 B177.6 Z-13.64 F96.14 G1 A366.9 B181.8 Z-13.58 F96.14 G1 A418.8 B186.2 Z-13.52 F96.14 G1 A472.9 B190.8 Z-13.45 F96.14 G1 A529.5 B195.6 Z-13.39 F96.14 G1 A589.1 B200.6 Z-13.32 F96.14 G1 A652.1 B206.0 Z-13.24 F96.14 G1 A719.2 B211.7 Z-13.16 F96.14 G1 A791.4 B217.8 Z-13.08 F96.14 G1 A870.1 B224.6 Z-12.99 F96.14 G1 A957.2 B232.1 Z-12.89 F96.14 G1 A1056.4 B240.7 Z-12.77 F96.14 G1 A1174.8 B251.2 Z-12.64 F96.14 G94 G1 A1313.4 B274.3 Z-12.00 F12000.0 G1 A1734.6 F12000.0 G1 Z0 A1914.6 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
22:04:16.659 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
22:04:17.061 duet2.duet_comm GCODE: T0 G1 E191 F840 G1 E-1 F100
22:04:35.914 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
22:05:03.914 make_crepe_action add_topping_shape started
22:05:03.917 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
22:05:03.955 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
22:05:04.021 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
22:05:04.060 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
22:05:04.063 make_crepe_action Uploaded 4 path macros. Starting execution.
22:05:04.113 duet1.duet_comm GCODE: G1 A-16 B217 F6000
22:05:07.422 duet1.duet_comm RUN MACRO: leadXpro_X2.g
22:05:07.431 duet2.duet_comm GCODE: T1 G1 E2.4 F150
22:05:08.613 duet1.duet_comm GCODE: G1 A9 B210 F6000
22:05:09.416 duet2.duet_comm GCODE: T1 G1 E2.4 F150
22:05:09.419 duet1.duet_comm RUN MACRO: leadXpro_X.g
22:05:10.716 duet1.duet_comm GCODE: G1 A-93 B286 F6000
22:05:11.716 duet2.duet_comm GCODE: T1 G1 E5.3 F150
22:05:11.716 duet1.duet_comm RUN MACRO: leadXpro_P.g
22:05:14.312 duet1.duet_comm GCODE: G1 A35 B210 F6000
22:05:15.814 duet1.duet_comm RUN MACRO: leadXpro_L.g
22:05:15.814 duet2.duet_comm GCODE: T1 G1 E3.1 F150
22:05:17.313 make_crepe_action fold started
22:05:17.315 duet1.duet_comm GCODE: G1 B5 F6000
22:05:17.325 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
22:05:17.336 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
22:05:28.842 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
22:05:30.214 make_crepe_action fold started
22:05:30.217 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
22:05:36.316 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
22:05:37.316 make_crepe_action push_off started
22:05:37.319 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
22:05:44.914 make_crepe_action wipe_spatula started
22:05:44.918 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
22:05:48.312 duet1.duet_comm GCODE: G92 A0
22:05:48.322 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.003
dm 290
flowrate 14
gap 30
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
z_spread_start -14
z_thread_pitch 15