Video

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Frame Analysis

16:32:35 1:52 observation 16:34:27
1 16:33:03
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2 16:33:31
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3 16:33:59
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:32:35 0.006s
prepare 0% 17:32:35 0.011s
oiling_optimized 0% 17:32:38 3.167s
spread_dough_optimized 0% 17:32:46 11.468s
add_topping_shape 0% 17:33:34 59.080s
fold 0% 17:33:55 79.569s
push_off 0% 17:34:16 100.571s
wipe_spatula 0% 17:34:23 108.166s

Machine Logs

17:32:35.448 make_crepe_action Executing make_crepe action
17:32:35.448 crepe_log_node Action status update: 1
17:32:35.450 make_crepe_action prepare started
17:32:35.451 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_17-32-35/session.json
17:32:35.453 duet1.duet_comm GCODE: G28 X Y
17:32:35.454 crepe_log_node Action status update: 2
17:32:35.463 duet1.duet_comm GCODE: G92 A0
17:32:35.471 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:32:38.616 make_crepe_action oiling_optimized started
17:32:38.617 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
17:32:38.619 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
17:32:40.216 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
17:32:40.265 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:32:40.666 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:32:43.752 make_crepe_action wait_until: timeout waiting for idle
17:32:43.754 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:32:43.756 duet1.duet_comm GCODE: G92 A0
17:32:43.765 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:32:46.916 make_crepe_action spread_dough_optimized started
17:32:46.917 make_crepe_action Full Duration: 11.0s; Speed: 186.7 mm/s; r_critical: 53.5mm; r_stop: 53.5mm ;duration_stop: 9.4s
17:32:46.920 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
17:32:49.114 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.50 F121.39 G1 A47.4 B155.0 Z-14.45 F121.39 G1 A86.8 B158.3 Z-14.41 F121.39 G1 A127.1 B161.7 Z-14.36 F121.39 G1 A168.5 B165.1 Z-14.31 F121.39 G1 A211.1 B168.7 Z-14.26 F121.39 G1 A254.9 B172.4 Z-14.21 F121.39 G1 A300.2 B176.2 Z-14.16 F121.39 G1 A346.9 B180.1 Z-14.10 F121.39 G1 A395.4 B184.2 Z-14.04 F121.39 G1 A445.8 B188.5 Z-13.98 F121.39 G1 A498.3 B192.9 Z-13.92 F121.39 G1 A553.3 B197.6 Z-13.86 F121.39 G1 A611.0 B202.5 Z-13.79 F121.39 G1 A672.1 B207.7 Z-13.72 F121.39 G1 A737.2 B213.2 Z-13.64 F121.39 G1 A807.1 B219.2 Z-13.56 F121.39 G1 A883.1 B225.7 Z-13.47 F121.39 G1 A967.1 B232.9 Z-13.37 F121.39 G1 A1062.6 B241.3 Z-13.26 F121.39 G94 G1 A1261.1 B274.3 Z-12.50 F12000.0 G1 A1734.6 F12000.0 G1 Z0 A1914.6 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
17:32:49.160 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
17:32:49.561 duet2.duet_comm GCODE: T0 G1 E160 F840 G1 E-1 F100
17:33:06.516 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
17:33:34.517 make_crepe_action add_topping_shape started
17:33:34.521 duet1.duet_comm UPLOAD MACRO: christmas_star.g G93 G1 A6 B223 F375.00 G1 A12 B215 F375.00 G1 A16 B205 F375.00 G1 A20 B200 F375.00 G1 A26 B201 F375.00 G1 A32 B201 F375.00 G1 A30 B197 F375.00 G1 A26 B191 F375.00 G1 A24 B184 F375.00 G1 A26 B174 F375.00 G1 A29 B165 F375.00 G1 A27 B164 F375.00 G1 A23 B170 F375.00 G1 A19 B175 F375.00 G1 A17 B167 F375.00 G1 A15 B159 F375.00 G1 A13 B158 F375.00 G1 A13 B168 F375.00 G1 A12 B179 F375.00 G1 A8 B183 F375.00 G1 A3 B185 F375.00 G1 A-0 B187 F375.00 G1 A4 B191 F375.00 G1 A9 B195 F375.00 G1 A10 B202 F375.00 G1 A8 B213 F375.00 G1 A6 B223 F375.00 G94
17:33:34.559 duet1.duet_comm UPLOAD MACRO: christmas_tree2.g G93 G1 A29 B201 F375.00 G1 A34 B203 F375.00 G1 A32 B210 F375.00 G1 A30 B216 F375.00 G1 A38 B209 F375.00 G1 A43 B206 F375.00 G1 A40 B214 F375.00 G1 A32 B225 F375.00 G1 A30 B231 F375.00 G1 A37 B226 F375.00 G1 A45 B215 F375.00 G1 A51 B207 F375.00 G1 A54 B207 F375.00 G1 A51 B216 F375.00 G1 A44 B227 F375.00 G1 A34 B239 F375.00 G1 A28 B247 F375.00 G1 A32 B251 F375.00 G1 A40 B244 F375.00 G1 A49 B232 F375.00 G1 A55 B218 F375.00 G1 A60 B208 F375.00 G1 A64 B204 F375.00 G1 A65 B208 F375.00 G1 A63 B217 F375.00 G1 A57 B229 F375.00 G1 A49 B241 F375.00 G1 A40 B253 F375.00 G1 A32 B263 F375.00 G94
17:33:34.597 duet1.duet_comm UPLOAD MACRO: christmas_tree1.g G93 G1 A-55 B194 F375.00 G1 A-58 B205 F375.00 G1 A-61 B202 F375.00 G1 A-64 B201 F375.00 G1 A-63 B212 F375.00 G1 A-63 B221 F375.00 G1 A-67 B215 F375.00 G1 A-70 B203 F375.00 G1 A-73 B201 F375.00 G1 A-73 B210 F375.00 G1 A-71 B223 F375.00 G1 A-70 B234 F375.00 G1 A-74 B238 F375.00 G1 A-76 B231 F375.00 G1 A-78 B218 F375.00 G1 A-79 B205 F375.00 G1 A-81 B198 F375.00 G1 A-84 B200 F375.00 G1 A-85 B209 F375.00 G1 A-84 B222 F375.00 G1 A-83 B235 F375.00 G1 A-83 B246 F375.00 G1 A-87 B253 F375.00 G1 A-92 B252 F375.00 G1 A-92 B243 F375.00 G1 A-90 B231 F375.00 G1 A-89 B217 F375.00 G1 A-89 B205 F375.00 G1 A-91 B197 F375.00 G94
17:33:34.634 make_crepe_action Uploaded 3 path macros. Starting execution.
17:33:34.648 duet1.duet_comm GCODE: G1 A6 B223 F6000
17:33:37.815 duet2.duet_comm GCODE: T2 G1 E10.6 F150
17:33:37.815 duet1.duet_comm RUN MACRO: christmas_star.g
17:33:42.316 duet1.duet_comm GCODE: G1 A29 B201 F6000
17:33:43.014 duet2.duet_comm GCODE: T2 G1 E11.4 F150
17:33:43.017 duet1.duet_comm RUN MACRO: christmas_tree2.g
17:33:48.216 duet1.duet_comm GCODE: G1 A-55 B194 F6000
17:33:49.715 duet1.duet_comm RUN MACRO: christmas_tree1.g
17:33:49.715 duet2.duet_comm GCODE: T2 G1 E11.4 F150
17:33:55.016 duet1.duet_comm GCODE: G1 B5 F6000
17:33:55.017 make_crepe_action fold started
17:33:55.026 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
17:33:55.037 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.5 F20000 G1 Y-50 Z-24.916666666666668 F3500 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
17:34:07.615 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
17:34:09.015 make_crepe_action fold started
17:34:09.017 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.5 F20000 G1 Y-50 Z-24.916666666666668 F3500 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
17:34:15.014 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
17:34:16.020 make_crepe_action push_off started
17:34:16.024 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.5 F20000 G1 Y-61 Z-21.916666666666668 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
17:34:23.614 make_crepe_action wipe_spatula started
17:34:23.618 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
17:34:27.015 duet1.duet_comm GCODE: G92 A0
17:34:27.028 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0025
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/christmas.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 -26.5
z_spread_end -12.5
z_spread_start -14.5
z_thread_pitch 15