Video

0:00 / 0:00

Frame Analysis

15:31:56 1:29 observation 15:33:25
1 15:32:18
Loading...
2 15:32:40
Loading...
3 15:33:02
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 16:31:56 0.007s
prepare 0% 16:31:56 0.012s
oiling_optimized 0% 16:31:59 3.143s
spread_dough_optimized 0% 16:32:08 11.445s
add_topping_shape 0% 16:32:58 61.944s
fold 0% 16:32:58 61.947s
push_off 0% 16:33:13 77.149s
wipe_spatula 0% 16:33:21 84.745s

Machine Logs

16:31:56.569 make_crepe_action Executing make_crepe action
16:31:56.569 crepe_log_node Action status update: 1
16:31:56.570 make_crepe_action prepare started
16:31:56.572 duet1.duet_comm GCODE: G28 X Y
16:31:56.575 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_16-31-56/session.json
16:31:56.577 crepe_log_node Action status update: 2
16:31:56.587 duet1.duet_comm GCODE: G92 A0
16:31:56.598 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:31:59.715 make_crepe_action oiling_optimized started
16:31:59.717 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
16:31:59.720 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
16:32:01.316 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
16:32:01.362 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:32:01.762 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:32:04.845 make_crepe_action wait_until: timeout waiting for idle
16:32:04.850 duet1.duet_comm GCODE: G92 A0
16:32:04.854 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:32:04.866 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:32:08.017 make_crepe_action spread_dough_optimized started
16:32:08.021 make_crepe_action Full Duration: 14.1s; Speed: 156.2 mm/s; r_critical: 44.8mm; r_stop: 44.8mm ;duration_stop: 12.6s
16:32:08.028 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.70 A9.04 B151.74 F6000
16:32:10.215 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.70 F90.22 G1 A52.3 B155.1 Z-14.65 F90.22 G1 A96.7 B158.6 Z-14.60 F90.22 G1 A142.2 B162.2 Z-14.55 F90.22 G1 A189.1 B165.9 Z-14.50 F90.22 G1 A237.3 B169.6 Z-14.45 F90.22 G1 A287.1 B173.6 Z-14.39 F90.22 G1 A338.5 B177.6 Z-14.34 F90.22 G1 A391.9 B181.8 Z-14.28 F90.22 G1 A447.4 B186.2 Z-14.22 F90.22 G1 A505.2 B190.7 Z-14.15 F90.22 G1 A565.7 B195.5 Z-14.09 F90.22 G1 A629.4 B200.5 Z-14.02 F90.22 G1 A696.7 B205.9 Z-13.94 F90.22 G1 A768.4 B211.6 Z-13.86 F90.22 G1 A845.5 B217.7 Z-13.78 F90.22 G1 A929.4 B224.4 Z-13.69 F90.22 G1 A1022.4 B231.9 Z-13.59 F90.22 G1 A1128.1 B240.5 Z-13.47 F90.22 G1 A1253.9 B251.0 Z-13.34 F90.22 G94 G1 A1393.9 B274.3 Z-12.70 F12000.0 G1 A1854.6 F12000.0 G1 Z0 A2034.6 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
16:32:10.284 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
16:32:10.684 duet2.duet_comm GCODE: T0 G1 E204 F840 G1 E-1 F100
16:32:30.517 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
16:32:58.517 make_crepe_action add_topping_shape started
16:32:58.518 make_crepe_action No topping selected for shape, skipping
16:32:58.519 make_crepe_action fold started
16:32:58.520 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
16:32:58.530 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
16:33:05.214 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
16:33:06.614 make_crepe_action fold started
16:33:06.618 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
16:33:12.718 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
16:33:13.722 make_crepe_action push_off started
16:33:13.730 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
16:33:21.317 make_crepe_action wipe_spatula started
16:33:21.322 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
16:33:24.715 duet1.duet_comm GCODE: G92 A0
16:33:24.727 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0032
dm 290
flowrate 14
gap 28
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 -12.7
z_spread_start -14.7
z_thread_pitch 15