Video

0:00 / 0:00

Frame Analysis

15:21:19 1:28 observation 15:22:47
1 15:21:41
Loading...
2 15:22:03
Loading...
3 15:22:25
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 16:21:19 0.006s
prepare 0% 16:21:19 0.008s
oiling_optimized 0% 16:21:22 3.184s
spread_dough_optimized 0% 16:21:30 11.512s
add_topping_shape 0% 16:22:20 60.986s
fold 0% 16:22:20 60.990s
push_off 0% 16:22:35 76.188s
wipe_spatula 0% 16:22:42 83.788s

Machine Logs

16:21:19.085 make_crepe_action Executing make_crepe action
16:21:19.085 crepe_log_node Action status update: 1
16:21:19.087 make_crepe_action prepare started
16:21:19.090 duet1.duet_comm GCODE: G28 X Y
16:21:19.092 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_16-21-19/session.json
16:21:19.094 crepe_log_node Action status update: 2
16:21:19.100 duet1.duet_comm GCODE: G92 A0
16:21:19.108 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:21:22.274 make_crepe_action oiling_optimized started
16:21:22.275 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
16:21:22.277 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
16:21:23.873 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
16:21:23.917 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:21:24.317 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:21:27.400 make_crepe_action wait_until: timeout waiting for idle
16:21:27.402 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:21:27.404 duet1.duet_comm GCODE: G92 A0
16:21:27.417 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:21:30.574 make_crepe_action spread_dough_optimized started
16:21:30.575 make_crepe_action Full Duration: 13.2s; Speed: 155.6 mm/s; r_critical: 44.6mm; r_stop: 44.6mm ;duration_stop: 11.9s
16:21:30.579 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.00 A9.04 B151.74 F6000
16:21:32.776 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
16:21:32.823 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
16:21:33.223 duet2.duet_comm GCODE: T0 G1 E191 F840 G1 E-1 F100
16:21:52.075 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
16:22:20.075 make_crepe_action add_topping_shape started
16:22:20.076 make_crepe_action No topping selected for shape, skipping
16:22:20.078 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
16:22:20.079 make_crepe_action fold started
16:22:20.090 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
16:22:26.773 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
16:22:28.173 make_crepe_action fold started
16:22:28.177 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
16:22:34.276 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
16:22:35.276 make_crepe_action push_off started
16:22:35.280 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
16:22:42.877 make_crepe_action wipe_spatula started
16:22:42.881 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
16:22:46.274 duet1.duet_comm GCODE: G92 A0
16:22:46.285 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 0.04
description Blueberry topping
display_name Blueberry Sauce
dm 318
flowrate 2.5
name blueberry
port 1

dispense.toppings.chocolate

density 0.04
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