Video

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Frame Analysis

16:48:39 1:36 observation 16:50:15
1 16:49:03
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2 16:49:27
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3 16:49:51
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:48:39 0.006s
prepare 0% 17:48:39 0.013s
oiling_optimized 0% 17:48:43 3.180s
spread_dough_optimized 0% 17:48:51 11.490s
add_topping_shape 0% 17:49:39 59.078s
fold 0% 17:49:49 69.080s
push_off 0% 17:50:04 84.084s
wipe_spatula 0% 17:50:11 91.678s

Machine Logs

17:48:39.936 make_crepe_action Executing make_crepe action
17:48:39.937 make_crepe_action prepare started
17:48:39.938 crepe_log_node Action status update: 1
17:48:39.939 duet1.duet_comm GCODE: G28 X Y
17:48:39.942 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_17-48-39/session.json
17:48:39.950 duet1.duet_comm GCODE: G92 A0
17:48:39.951 crepe_log_node Action status update: 2
17:48:39.960 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:48:43.119 make_crepe_action oiling_optimized started
17:48:43.120 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
17:48:43.124 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
17:48:44.715 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
17:48:44.765 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:48:45.166 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:48:48.250 make_crepe_action wait_until: timeout waiting for idle
17:48:48.251 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:48:48.258 duet1.duet_comm GCODE: G92 A0
17:48:48.274 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
17:48:51.417 make_crepe_action spread_dough_optimized started
17:48:51.418 make_crepe_action Full Duration: 11.0s; Speed: 186.7 mm/s; r_critical: 53.5mm; r_stop: 53.5mm ;duration_stop: 9.4s
17:48:51.420 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
17:48:53.615 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
17:48:53.657 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
17:48:54.057 duet2.duet_comm GCODE: T0 G1 E160 F840 G1 E-1 F100
17:49:11.017 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
17:49:39.016 make_crepe_action add_topping_shape started
17:49:39.017 make_crepe_action No topping selected for shape, skipping
17:49:49.019 make_crepe_action fold started
17:49:49.019 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
17:49:49.029 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
17:49:55.615 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
17:49:57.017 make_crepe_action fold started
17:49:57.019 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
17:50:03.013 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
17:50:04.022 make_crepe_action push_off started
17:50:04.037 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-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
17:50:11.616 make_crepe_action wipe_spatula started
17:50:11.621 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
17:50:15.014 duet1.duet_comm GCODE: G92 A0
17:50:15.028 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/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