Video

0:00 / 0:00

Frame Analysis

17:06:11 1:45 observation 17:07:56
1 17:06:37
Loading...
2 17:07:03
Loading...
3 17:07:29
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 18:06:11 0.005s
prepare 0% 18:06:11 0.010s
oiling_optimized 0% 18:06:14 3.033s
spread_dough_optimized 0% 18:06:23 11.336s
add_topping_shape 0% 18:07:10 58.936s
fold 0% 18:07:25 73.544s
push_off 0% 18:07:44 93.260s
wipe_spatula 0% 18:07:52 100.836s

Machine Logs

18:06:11.678 make_crepe_action Executing make_crepe action
18:06:11.679 crepe_log_node Action status update: 1
18:06:11.679 make_crepe_action prepare started
18:06:11.681 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_18-06-11/session.json
18:06:11.683 duet1.duet_comm GCODE: G28 X Y
18:06:11.683 crepe_log_node Action status update: 2
18:06:11.693 duet1.duet_comm GCODE: G92 A0
18:06:11.713 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:06:14.713 make_crepe_action oiling_optimized started
18:06:14.714 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
18:06:14.718 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
18:06:16.315 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
18:06:16.358 duet1.duet_comm RUN MACRO: oiling_optimized.g
18:06:16.758 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
18:06:19.841 make_crepe_action wait_until: timeout waiting for idle
18:06:19.845 duet1.duet_comm GCODE: G92 A0
18:06:19.850 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
18:06:19.856 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:06:23.015 make_crepe_action spread_dough_optimized started
18:06:23.016 make_crepe_action Full Duration: 11.0s; Speed: 186.7 mm/s; r_critical: 53.5mm; r_stop: 53.5mm ;duration_stop: 9.4s
18:06:23.020 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
18:06:25.216 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
18:06:25.262 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
18:06:25.662 duet2.duet_comm GCODE: T0 G1 E160 F840 G1 E-1 F100
18:06:42.615 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
18:07:10.615 make_crepe_action add_topping_shape started
18:07:10.618 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-16 B199 F375.00 G1 A-13 B209 F375.00 G1 A-11 B219 F375.00 G1 A-7 B228 F375.00 G1 A-2 B236 F375.00 G1 A4 B243 F375.00 G1 A12 B248 F375.00 G1 A22 B252 F375.00 G94
18:07:10.661 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A9 B192 F375.00 G1 A6 B204 F375.00 G1 A2 B215 F375.00 G1 A-2 B226 F375.00 G1 A-8 B237 F375.00 G1 A-16 B249 F375.00 G1 A-28 B260 F375.00 G1 A-46 B270 F375.00 G94
18:07:10.698 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-93 B268 F375.00 G1 A-76 B260 F375.00 G1 A-63 B252 F375.00 G1 A-54 B243 F375.00 G1 A-46 B233 F375.00 G1 A-41 B223 F375.00 G1 A-36 B214 F375.00 G1 A-38 B207 F375.00 G1 A-42 B202 F375.00 G1 A-47 B197 F375.00 G1 A-51 B193 F375.00 G1 A-57 B194 F375.00 G1 A-62 B200 F375.00 G1 A-66 B209 F375.00 G1 A-66 B220 F375.00 G1 A-63 B228 F375.00 G1 A-59 B236 F375.00 G1 A-53 B242 F375.00 G94
18:07:10.737 make_crepe_action Uploaded 4 path macros. Starting execution.
18:07:10.754 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F375.00 G1 A38 B199 F375.00 G1 A42 B206 F375.00 G1 A47 B212 F375.00 G1 A52 B217 F375.00 G1 A58 B220 F375.00 G1 A64 B223 F375.00 G1 A65 B230 F375.00 G1 A61 B241 F375.00 G1 A55 B252 F375.00 G1 A46 B264 F375.00 G94
18:07:10.794 duet1.duet_comm GCODE: G1 A-16 B199 F6000
18:07:13.914 duet2.duet_comm GCODE: T2 G1 E3.2 F150
18:07:13.914 duet1.duet_comm RUN MACRO: leadXpro_X2.g
18:07:15.315 duet1.duet_comm GCODE: G1 A9 B192 F6000
18:07:16.116 duet1.duet_comm RUN MACRO: leadXpro_X.g
18:07:16.116 duet2.duet_comm GCODE: T2 G1 E3.2 F150
18:07:17.620 duet1.duet_comm GCODE: G1 A-93 B268 F6000
18:07:18.616 duet1.duet_comm RUN MACRO: leadXpro_P.g
18:07:18.616 duet2.duet_comm GCODE: T2 G1 E7.1 F150
18:07:21.823 duet1.duet_comm GCODE: G1 A35 B192 F6000
18:07:23.315 duet1.duet_comm RUN MACRO: leadXpro_L.g
18:07:23.315 duet2.duet_comm GCODE: T2 G1 E4.2 F150
18:07:25.222 make_crepe_action fold started
18:07:25.222 duet1.duet_comm GCODE: G1 B5 F6000
18:07:25.234 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
18:07:25.245 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
18:07:36.516 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
18:07:37.917 make_crepe_action fold started
18:07:37.923 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
18:07:43.916 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
18:07:44.916 make_crepe_action push_off started
18:07:44.919 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
18:07:52.515 make_crepe_action wipe_spatula started
18:07:52.519 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
18:07:55.916 duet1.duet_comm GCODE: G92 A0
18:07:55.927 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