Video

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Frame Analysis

16:34:49 1:36 observation 16:36:25
1 16:35:13
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2 16:35:37
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3 16:36:01
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:34:49 0.009s
prepare 0% 17:34:49 0.013s
oiling_optimized 0% 17:34:52 3.139s
spread_dough_optimized 0% 17:35:01 11.442s
add_topping_shape 0% 17:35:48 59.041s
fold 0% 17:35:58 69.052s
push_off 0% 17:36:13 84.065s
wipe_spatula 0% 17:36:21 91.635s

Machine Logs

17:34:49.675 make_crepe_action Executing make_crepe action
17:34:49.676 crepe_log_node Action status update: 1
17:34:49.677 make_crepe_action prepare started
17:34:49.679 duet1.duet_comm GCODE: G28 X Y
17:34:49.679 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_17-34-49/session.json
17:34:49.681 crepe_log_node Action status update: 2
17:34:49.689 duet1.duet_comm GCODE: G92 A0
17:34:49.700 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:34:52.816 make_crepe_action oiling_optimized started
17:34:52.817 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
17:34:52.818 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
17:34:54.416 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
17:34:54.463 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:34:54.863 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:34:57.946 make_crepe_action wait_until: timeout waiting for idle
17:34:57.955 duet1.duet_comm GCODE: G92 A0
17:34:57.951 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:34:57.971 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:35:01.119 make_crepe_action spread_dough_optimized started
17:35:01.121 make_crepe_action Full Duration: 11.0s; Speed: 186.7 mm/s; r_critical: 53.5mm; r_stop: 53.5mm ;duration_stop: 9.4s
17:35:01.125 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
17:35:03.316 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
17:35:03.360 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
17:35:03.760 duet2.duet_comm GCODE: T0 G1 E160 F840 G1 E-1 F100
17:35:20.717 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
17:35:48.717 make_crepe_action add_topping_shape started
17:35:48.718 make_crepe_action No topping selected for shape, skipping
17:35:58.720 make_crepe_action fold started
17:35:58.721 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
17:35:58.736 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
17:36:05.315 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
17:36:06.716 make_crepe_action fold started
17:36:06.719 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
17:36:12.716 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
17:36:13.717 make_crepe_action push_off started
17:36:13.720 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
17:36:21.312 make_crepe_action wipe_spatula started
17:36:21.315 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
17:36:24.715 duet1.duet_comm GCODE: G92 A0
17:36:24.726 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