Video

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Frame Analysis

17:02:42 1:36 observation 17:04:18
1 17:03:06
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2 17:03:30
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3 17:03:54
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Phases

Phase Detail Progress Time Elapsed
init 0% 18:02:42 0.007s
prepare 0% 18:02:42 0.011s
oiling_optimized 0% 18:02:45 3.220s
spread_dough_optimized 0% 18:02:54 11.495s
add_topping_shape 0% 18:03:41 59.124s
fold 0% 18:03:51 69.098s
push_off 0% 18:04:06 84.099s
wipe_spatula 0% 18:04:14 91.695s

Machine Logs

18:02:42.619 make_crepe_action Executing make_crepe action
18:02:42.619 crepe_log_node Action status update: 1
18:02:42.620 make_crepe_action prepare started
18:02:42.622 duet1.duet_comm GCODE: G28 X Y
18:02:42.622 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_18-02-42/session.json
18:02:42.625 crepe_log_node Action status update: 2
18:02:42.633 duet1.duet_comm GCODE: G92 A0
18:02:42.642 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:02:45.818 make_crepe_action oiling_optimized started
18:02:45.819 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
18:02:45.820 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
18:02:47.417 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
18:02:47.457 duet1.duet_comm RUN MACRO: oiling_optimized.g
18:02:47.858 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
18:02:50.940 make_crepe_action wait_until: timeout waiting for idle
18:02:50.943 duet1.duet_comm GCODE: G92 A0
18:02:50.951 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
18:02:50.957 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:02:54.114 make_crepe_action spread_dough_optimized started
18:02:54.115 make_crepe_action Full Duration: 11.0s; Speed: 186.7 mm/s; r_critical: 53.5mm; r_stop: 53.5mm ;duration_stop: 9.4s
18:02:54.117 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
18:02:56.315 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
18:02:56.356 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
18:02:56.756 duet2.duet_comm GCODE: T0 G1 E160 F840 G1 E-1 F100
18:03:13.715 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
18:03:41.715 make_crepe_action add_topping_shape started
18:03:41.716 make_crepe_action No topping selected for shape, skipping
18:03:51.717 make_crepe_action fold started
18:03:51.717 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
18:03:51.727 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
18:03:58.315 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
18:03:59.713 make_crepe_action fold started
18:03:59.716 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
18:04:05.716 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
18:04:06.719 make_crepe_action push_off started
18:04:06.722 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
18:04:14.316 make_crepe_action wipe_spatula started
18:04:14.318 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
18:04:17.717 duet1.duet_comm GCODE: G92 A0
18:04:17.729 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