Video

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Frame Analysis

15:27:20 1:28 observation 15:28:48
1 15:27:42
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2 15:28:04
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3 15:28:26
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:27:20 0.007s
prepare 0% 16:27:20 0.009s
oiling_optimized 0% 16:27:23 3.244s
spread_dough_optimized 0% 16:27:32 11.517s
add_topping_shape 0% 16:28:21 61.055s
fold 0% 16:28:21 61.057s
push_off 0% 16:28:36 76.225s
wipe_spatula 0% 16:28:44 83.819s

Machine Logs

16:27:20.651 make_crepe_action Executing make_crepe action
16:27:20.651 crepe_log_node Action status update: 1
16:27:20.652 make_crepe_action prepare started
16:27:20.655 duet1.duet_comm GCODE: G28 X Y
16:27:20.658 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_16-27-20/session.json
16:27:20.660 crepe_log_node Action status update: 2
16:27:20.678 duet1.duet_comm GCODE: G92 A0
16:27:20.688 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:27:23.875 make_crepe_action oiling_optimized started
16:27:23.876 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
16:27:23.879 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
16:27:25.479 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
16:27:25.521 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:27:25.921 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:27:29.010 make_crepe_action wait_until: timeout waiting for idle
16:27:29.012 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:27:29.016 duet1.duet_comm GCODE: G92 A0
16:27:29.027 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:27:32.172 make_crepe_action spread_dough_optimized started
16:27:32.173 make_crepe_action Full Duration: 13.2s; Speed: 155.6 mm/s; r_critical: 44.6mm; r_stop: 44.6mm ;duration_stop: 11.9s
16:27:32.177 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.00 A9.04 B151.74 F6000
16:27:34.379 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
16:27:34.424 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
16:27:34.825 duet2.duet_comm GCODE: T0 G1 E191 F840 G1 E-1 F100
16:27:53.678 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
16:28:21.677 make_crepe_action add_topping_shape started
16:28:21.678 make_crepe_action No topping selected for shape, skipping
16:28:21.679 make_crepe_action fold started
16:28:21.680 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
16:28:21.691 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
16:28:28.376 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
16:28:29.773 make_crepe_action fold started
16:28:29.775 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
16:28:35.872 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
16:28:36.880 make_crepe_action push_off started
16:28:36.885 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
16:28:44.474 make_crepe_action wipe_spatula started
16:28:44.476 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
16:28:47.873 duet1.duet_comm GCODE: G92 A0
16:28:47.884 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