Video

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Frame Analysis

21:09:48 1:46 observation 21:11:34
1 21:10:14
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2 21:10:41
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3 21:11:07
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Phases

Phase Detail Progress Time Elapsed
init 0% 22:09:48 0.006s
prepare 0% 22:09:48 0.011s
oiling_optimized 0% 22:09:51 3.217s
spread_dough_optimized 0% 22:09:59 11.516s
add_topping_shape 0% 22:10:49 61.035s
fold 0% 22:11:02 74.217s
push_off 0% 22:11:22 94.120s
wipe_spatula 0% 22:11:30 101.724s

Machine Logs

22:09:48.397 make_crepe_action Executing make_crepe action
22:09:48.397 crepe_log_node Action status update: 1
22:09:48.398 make_crepe_action prepare started
22:09:48.401 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-06_22-09-48/session.json
22:09:48.403 crepe_log_node Action status update: 2
22:09:48.412 duet1.duet_comm GCODE: G28 X Y
22:09:48.421 duet1.duet_comm GCODE: G92 A0
22:09:48.429 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:09:51.615 make_crepe_action oiling_optimized started
22:09:51.616 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
22:09:51.618 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
22:09:53.213 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
22:09:53.255 duet1.duet_comm RUN MACRO: oiling_optimized.g
22:09:53.656 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
22:09:56.738 make_crepe_action wait_until: timeout waiting for idle
22:09:56.741 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
22:09:56.744 duet1.duet_comm GCODE: G92 A0
22:09:56.756 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:09:59.914 make_crepe_action spread_dough_optimized started
22:09:59.915 make_crepe_action Full Duration: 13.2s; Speed: 155.6 mm/s; r_critical: 44.6mm; r_stop: 44.6mm ;duration_stop: 11.9s
22:09:59.918 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.00 A9.04 B151.74 F6000
22:10:02.120 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
22:10:02.168 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
22:10:02.569 duet2.duet_comm GCODE: T0 G1 E191 F840 G1 E-1 F100
22:10:21.418 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
22:10:49.418 make_crepe_action add_topping_shape started
22:10:49.425 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
22:10:49.463 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
22:10:49.500 make_crepe_action Uploaded 4 path macros. Starting execution.
22:10:49.514 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
22:10:49.553 duet1.duet_comm GCODE: G1 A-16 B199 F6000
22:10:49.562 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
22:10:52.716 duet1.duet_comm RUN MACRO: leadXpro_X2.g
22:10:52.716 duet2.duet_comm GCODE: T2 G1 E2.4 F150
22:10:53.917 duet1.duet_comm GCODE: G1 A9 B192 F6000
22:10:54.716 duet1.duet_comm RUN MACRO: leadXpro_X.g
22:10:54.716 duet2.duet_comm GCODE: T2 G1 E2.4 F150
22:10:56.016 duet1.duet_comm GCODE: G1 A-93 B268 F6000
22:10:57.014 duet1.duet_comm RUN MACRO: leadXpro_P.g
22:10:57.014 duet2.duet_comm GCODE: T2 G1 E5.3 F150
22:10:59.616 duet1.duet_comm GCODE: G1 A35 B192 F6000
22:11:01.116 duet1.duet_comm RUN MACRO: leadXpro_L.g
22:11:01.116 duet2.duet_comm GCODE: T2 G1 E3.1 F150
22:11:02.614 make_crepe_action fold started
22:11:02.614 duet1.duet_comm GCODE: G1 B5 F6000
22:11:02.625 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
22:11:02.635 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
22:11:14.015 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
22:11:15.415 make_crepe_action fold started
22:11:15.419 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
22:11:21.520 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
22:11:22.518 make_crepe_action push_off started
22:11:22.524 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
22:11:30.119 make_crepe_action wipe_spatula started
22:11:30.126 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
22:11:33.516 duet1.duet_comm GCODE: G92 A0
22:11:33.527 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