Video

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Frame Analysis

16:45:31 1:45 observation 16:47:16
1 16:45:57
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2 16:46:23
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3 16:46:49
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:45:31 0.007s
prepare 0% 17:45:31 0.011s
oiling_optimized 0% 17:45:34 3.142s
spread_dough_optimized 0% 17:45:42 11.440s
add_topping_shape 0% 17:46:30 59.138s
fold 0% 17:46:45 73.938s
push_off 0% 17:47:05 93.737s
wipe_spatula 0% 17:47:12 101.337s

Machine Logs

17:45:31.377 make_crepe_action Executing make_crepe action
17:45:31.378 crepe_log_node Action status update: 1
17:45:31.379 make_crepe_action prepare started
17:45:31.381 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_17-45-31/session.json
17:45:31.382 duet1.duet_comm GCODE: G28 X Y
17:45:31.384 crepe_log_node Action status update: 2
17:45:31.394 duet1.duet_comm GCODE: G92 A0
17:45:31.420 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:45:34.519 make_crepe_action oiling_optimized started
17:45:34.520 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
17:45:34.526 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
17:45:36.122 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
17:45:36.165 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:45:36.565 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:45:39.649 make_crepe_action wait_until: timeout waiting for idle
17:45:39.650 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:45:39.656 duet1.duet_comm GCODE: G92 A0
17:45:39.671 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:45:42.817 make_crepe_action spread_dough_optimized started
17:45:42.818 make_crepe_action Full Duration: 11.0s; Speed: 186.7 mm/s; r_critical: 53.5mm; r_stop: 53.5mm ;duration_stop: 9.4s
17:45:42.824 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
17:45:45.018 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
17:45:45.081 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
17:45:45.483 duet2.duet_comm GCODE: T0 G1 E160 F840 G1 E-1 F100
17:46:02.518 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
17:46:30.517 make_crepe_action add_topping_shape started
17:46:30.519 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-16 B217 F375.00 G1 A-13 B227 F375.00 G1 A-11 B237 F375.00 G1 A-7 B246 F375.00 G1 A-2 B254 F375.00 G1 A4 B261 F375.00 G1 A12 B266 F375.00 G1 A22 B270 F375.00 G94
17:46:30.556 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A9 B210 F375.00 G1 A6 B222 F375.00 G1 A2 B233 F375.00 G1 A-2 B244 F375.00 G1 A-8 B255 F375.00 G1 A-16 B267 F375.00 G1 A-28 B278 F375.00 G1 A-46 B288 F375.00 G94
17:46:30.594 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-93 B286 F375.00 G1 A-76 B278 F375.00 G1 A-63 B270 F375.00 G1 A-54 B261 F375.00 G1 A-46 B251 F375.00 G1 A-41 B241 F375.00 G1 A-36 B232 F375.00 G1 A-38 B225 F375.00 G1 A-42 B220 F375.00 G1 A-47 B215 F375.00 G1 A-51 B211 F375.00 G1 A-57 B212 F375.00 G1 A-62 B218 F375.00 G1 A-66 B227 F375.00 G1 A-66 B238 F375.00 G1 A-63 B246 F375.00 G1 A-59 B254 F375.00 G1 A-53 B260 F375.00 G94
17:46:30.633 make_crepe_action Uploaded 4 path macros. Starting execution.
17:46:30.648 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B210 F375.00 G1 A38 B217 F375.00 G1 A42 B224 F375.00 G1 A47 B230 F375.00 G1 A52 B235 F375.00 G1 A58 B238 F375.00 G1 A64 B241 F375.00 G1 A65 B248 F375.00 G1 A61 B259 F375.00 G1 A55 B270 F375.00 G1 A46 B282 F375.00 G94
17:46:30.688 duet1.duet_comm GCODE: G1 A-16 B217 F6000
17:46:34.014 duet1.duet_comm RUN MACRO: leadXpro_X2.g
17:46:34.014 duet2.duet_comm GCODE: T1 G1 E3.2 F150
17:46:35.416 duet1.duet_comm GCODE: G1 A9 B210 F6000
17:46:36.216 duet1.duet_comm RUN MACRO: leadXpro_X.g
17:46:36.216 duet2.duet_comm GCODE: T1 G1 E3.2 F150
17:46:37.716 duet1.duet_comm GCODE: G1 A-93 B286 F6000
17:46:38.716 duet2.duet_comm GCODE: T1 G1 E7.1 F150
17:46:38.720 duet1.duet_comm RUN MACRO: leadXpro_P.g
17:46:41.914 duet1.duet_comm GCODE: G1 A35 B210 F6000
17:46:43.417 duet2.duet_comm GCODE: T1 G1 E4.2 F150
17:46:43.417 duet1.duet_comm RUN MACRO: leadXpro_L.g
17:46:45.316 make_crepe_action fold started
17:46:45.317 duet1.duet_comm GCODE: G1 B5 F6000
17:46:45.329 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
17:46:45.341 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
17:46:56.714 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
17:46:58.115 make_crepe_action fold started
17:46:58.118 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
17:47:04.120 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
17:47:05.115 make_crepe_action push_off started
17:47:05.118 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
17:47:12.715 make_crepe_action wipe_spatula started
17:47:12.716 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
17:47:16.116 duet1.duet_comm GCODE: G92 A0
17:47:16.126 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/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 -26.5
z_spread_end -12.5
z_spread_start -14.5
z_thread_pitch 15