Video

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Frame Analysis

21:11:44 1:46 observation 21:13:30
1 21:12:10
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2 21:12:37
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3 21:13:03
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Phases

Phase Detail Progress Time Elapsed
init 0% 22:11:44 0.008s
prepare 0% 22:11:44 0.012s
oiling_optimized 0% 22:11:47 3.192s
spread_dough_optimized 0% 22:11:55 11.495s
add_topping_shape 0% 22:12:45 60.992s
fold 0% 22:12:58 74.193s
push_off 0% 22:13:18 94.094s
wipe_spatula 0% 22:13:25 101.693s

Machine Logs

22:11:44.121 make_crepe_action Executing make_crepe action
22:11:44.121 crepe_log_node Action status update: 1
22:11:44.122 make_crepe_action prepare started
22:11:44.124 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-06_22-11-44/session.json
22:11:44.128 crepe_log_node Action status update: 2
22:11:44.128 duet1.duet_comm GCODE: G28 X Y
22:11:44.137 duet1.duet_comm GCODE: G92 A0
22:11:44.146 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:11:47.313 make_crepe_action oiling_optimized started
22:11:47.315 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
22:11:47.316 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
22:11:48.914 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
22:11:48.972 duet1.duet_comm RUN MACRO: oiling_optimized.g
22:11:49.373 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
22:11:52.459 make_crepe_action wait_until: timeout waiting for idle
22:11:52.460 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
22:11:52.463 duet1.duet_comm GCODE: G92 A0
22:11:52.475 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:11:55.617 make_crepe_action spread_dough_optimized started
22:11:55.618 make_crepe_action Full Duration: 13.2s; Speed: 155.6 mm/s; r_critical: 44.6mm; r_stop: 44.6mm ;duration_stop: 11.9s
22:11:55.620 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.00 A9.04 B151.74 F6000
22:11:57.817 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
22:11:57.864 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
22:11:58.265 duet2.duet_comm GCODE: T0 G1 E191 F840 G1 E-1 F100
22:12:17.114 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
22:12:45.114 make_crepe_action add_topping_shape started
22:12:45.118 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
22:12:45.156 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
22:12:45.197 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
22:12:45.235 make_crepe_action Uploaded 4 path macros. Starting execution.
22:12:45.252 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
22:12:45.293 duet1.duet_comm GCODE: G1 A-16 B199 F6000
22:12:48.417 duet2.duet_comm GCODE: T2 G1 E2.4 F150
22:12:48.421 duet1.duet_comm RUN MACRO: leadXpro_X2.g
22:12:49.614 duet1.duet_comm GCODE: G1 A9 B192 F6000
22:12:50.415 duet2.duet_comm GCODE: T2 G1 E2.4 F150
22:12:50.420 duet1.duet_comm RUN MACRO: leadXpro_X.g
22:12:51.717 duet1.duet_comm GCODE: G1 A-93 B268 F6000
22:12:52.715 duet1.duet_comm RUN MACRO: leadXpro_P.g
22:12:52.715 duet2.duet_comm GCODE: T2 G1 E5.3 F150
22:12:55.315 duet1.duet_comm GCODE: G1 A35 B192 F6000
22:12:56.818 duet1.duet_comm RUN MACRO: leadXpro_L.g
22:12:56.818 duet2.duet_comm GCODE: T2 G1 E3.1 F150
22:12:58.315 make_crepe_action fold started
22:12:58.315 duet1.duet_comm GCODE: G1 B5 F6000
22:12:58.326 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
22:12:58.337 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
22:13:09.728 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
22:13:11.115 make_crepe_action fold started
22:13:11.122 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
22:13:17.223 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
22:13:18.215 make_crepe_action push_off started
22:13:18.219 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-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
22:13:25.815 make_crepe_action wipe_spatula started
22:13:25.818 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
22:13:29.215 duet1.duet_comm GCODE: G92 A0
22:13:29.226 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