Video

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Frame Analysis

21:51:39 1:28 observation 21:53:07
1 21:52:01
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2 21:52:23
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3 21:52:45
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Phases

Phase Detail Progress Time Elapsed
init 0% 22:51:39 0.007s
prepare 0% 22:51:39 0.011s
oiling_optimized 0% 22:51:42 3.021s
spread_dough_optimized 0% 22:51:50 11.328s
add_topping_shape 0% 22:52:40 60.831s
fold 0% 22:52:40 60.835s
push_off 0% 22:52:55 76.023s
wipe_spatula 0% 22:53:03 83.624s

Machine Logs

22:51:39.591 make_crepe_action Executing make_crepe action
22:51:39.591 crepe_log_node Action status update: 1
22:51:39.592 make_crepe_action prepare started
22:51:39.594 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-06_22-51-39/session.json
22:51:39.596 duet1.duet_comm GCODE: G28 X Y
22:51:39.597 crepe_log_node Action status update: 2
22:51:39.616 duet1.duet_comm GCODE: G92 A0
22:51:39.626 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:51:42.613 make_crepe_action oiling_optimized started
22:51:42.614 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
22:51:42.617 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
22:51:44.215 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
22:51:44.257 duet1.duet_comm RUN MACRO: oiling_optimized.g
22:51:44.657 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
22:51:47.742 make_crepe_action wait_until: timeout waiting for idle
22:51:47.746 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
22:51:47.746 duet1.duet_comm GCODE: G92 A0
22:51:47.761 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
22:51:50.919 make_crepe_action spread_dough_optimized started
22:51:50.920 make_crepe_action Full Duration: 13.2s; Speed: 155.6 mm/s; r_critical: 44.6mm; r_stop: 44.6mm ;duration_stop: 11.9s
22:51:50.924 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.00 A9.04 B151.74 F6000
22:51:53.120 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
22:51:53.167 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
22:51:53.568 duet2.duet_comm GCODE: T0 G1 E191 F840 G1 E-1 F100
22:52:12.421 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
22:52:40.422 make_crepe_action add_topping_shape started
22:52:40.423 make_crepe_action No topping selected for shape, skipping
22:52:40.425 make_crepe_action fold started
22:52:40.429 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
22:52:40.443 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
22:52:47.115 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
22:52:48.522 make_crepe_action fold started
22:52:48.524 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-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
22:52:54.619 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
22:52:55.614 make_crepe_action push_off started
22:52:55.617 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
22:53:03.216 make_crepe_action wipe_spatula started
22:53:03.221 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
22:53:06.615 duet1.duet_comm GCODE: G92 A0
22:53:06.627 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