Video

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Frame Analysis

17:58:18 1:35 observation 17:59:53
1 17:58:41
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2 17:59:05
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3 17:59:29
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Phases

Phase Detail Progress Time Elapsed
init 0% 18:58:18 0.006s
prepare 0% 18:58:18 0.010s
oiling_optimized 0% 18:58:21 3.190s
spread_dough_optimized 0% 18:58:30 11.517s
add_topping_shape 0% 18:59:16 57.713s
fold 0% 18:59:26 67.700s
push_off 0% 18:59:41 82.692s
wipe_spatula 0% 18:59:49 90.298s

Machine Logs

18:58:18.723 make_crepe_action Executing make_crepe action
18:58:18.723 crepe_log_node Action status update: 1
18:58:18.725 make_crepe_action prepare started
18:58:18.726 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-07_18-58-18/session.json
18:58:18.728 crepe_log_node Action status update: 2
18:58:18.728 duet1.duet_comm GCODE: G28 X Y
18:58:18.737 duet1.duet_comm GCODE: G92 A0
18:58:18.746 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:58:21.914 make_crepe_action oiling_optimized started
18:58:21.915 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
18:58:21.919 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
18:58:23.515 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
18:58:23.556 duet1.duet_comm RUN MACRO: oiling_optimized.g
18:58:23.957 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
18:58:27.040 make_crepe_action wait_until: timeout waiting for idle
18:58:27.047 duet1.duet_comm GCODE: G92 A0
18:58:27.057 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
18:58:27.065 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
18:58:30.217 make_crepe_action spread_dough_optimized started
18:58:30.218 make_crepe_action Full Duration: 9.7s; Speed: 192.8 mm/s; r_critical: 55.2mm; r_stop: 55.2mm ;duration_stop: 8.2s
18:58:30.219 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
18:58:32.417 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.50 F139.54 G1 A43.6 B154.9 Z-14.46 F139.54 G1 A78.9 B158.2 Z-14.41 F139.54 G1 A115.2 B161.5 Z-14.36 F139.54 G1 A152.3 B165.0 Z-14.31 F139.54 G1 A190.6 B168.5 Z-14.26 F139.54 G1 A229.9 B172.1 Z-14.21 F139.54 G1 A270.5 B175.9 Z-14.16 F139.54 G1 A312.4 B179.8 Z-14.11 F139.54 G1 A355.9 B183.8 Z-14.05 F139.54 G1 A401.0 B188.0 Z-13.99 F139.54 G1 A448.0 B192.4 Z-13.93 F139.54 G1 A497.1 B196.9 Z-13.87 F139.54 G1 A548.7 B201.7 Z-13.80 F139.54 G1 A603.2 B206.8 Z-13.73 F139.54 G1 A661.1 B212.2 Z-13.65 F139.54 G1 A723.2 B218.0 Z-13.58 F139.54 G1 A790.5 B224.4 Z-13.49 F139.54 G1 A864.6 B231.4 Z-13.39 F139.54 G1 A948.1 B239.3 Z-13.29 F139.54 G94 G1 A1158.2 B274.3 Z-12.50 F12000.0 G1 A1581.8 F12000.0 G1 Z0 A1761.8 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
18:58:32.461 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
18:58:32.861 duet2.duet_comm GCODE: T0 G1 E142 F840 G1 E-1 F100
18:58:48.418 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
18:59:16.419 make_crepe_action add_topping_shape started
18:59:16.420 make_crepe_action No topping selected for shape, skipping
18:59:26.421 make_crepe_action fold started
18:59:26.422 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
18:59:26.438 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
18:59:33.015 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
18:59:34.416 make_crepe_action fold started
18:59:34.418 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
18:59:40.418 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
18:59:41.417 make_crepe_action push_off started
18:59:41.418 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
18:59:49.021 make_crepe_action wipe_spatula started
18:59:49.025 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
18:59:52.419 duet1.duet_comm GCODE: G92 A0
18:59:52.430 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0022
dm 290
flowrate 14
gap 33
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