Video

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Frame Analysis

14:05:15 1:35 observation 14:06:50
1 14:05:38
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2 14:06:02
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3 14:06:26
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:05:15 0.012s
prepare 0% 15:05:15 0.031s
oiling_optimized 0% 15:05:18 3.182s
spread_dough_optimized 0% 15:05:27 11.586s
add_topping_shape 0% 15:06:13 57.785s
fold 0% 15:06:23 67.789s
push_off 0% 15:06:38 82.782s
wipe_spatula 0% 15:06:46 90.404s

Machine Logs

15:05:15.701 crepe_log_node Action status update: 1
15:05:15.704 make_crepe_action Executing make_crepe action
15:05:15.712 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-09_15-05-15/session.json
15:05:15.713 make_crepe_action prepare started
15:05:15.720 crepe_log_node Action status update: 2
15:05:15.739 duet1.duet_comm GCODE: G28 X Y
15:05:15.762 duet1.duet_comm GCODE: G92 A0
15:05:15.774 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
15:05:18.891 make_crepe_action oiling_optimized started
15:05:18.893 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
15:05:18.898 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
15:05:20.493 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
15:05:20.574 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:05:20.977 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:05:24.065 make_crepe_action wait_until: timeout waiting for idle
15:05:24.068 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:05:24.068 duet1.duet_comm GCODE: G92 A0
15:05:24.093 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
15:05:27.296 make_crepe_action spread_dough_optimized started
15:05:27.297 make_crepe_action Full Duration: 9.7s; Speed: 192.8 mm/s; r_critical: 55.2mm; r_stop: 55.2mm ;duration_stop: 8.2s
15:05:27.301 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000
15:05:29.493 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
15:05:29.537 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
15:05:29.938 duet2.duet_comm GCODE: T0 G1 E142 F840 G1 E-1 F100
15:05:45.493 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
15:06:13.493 make_crepe_action add_topping_shape started
15:06:13.494 make_crepe_action No topping selected for shape, skipping
15:06:23.496 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
15:06:23.497 make_crepe_action fold started
15:06:23.508 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
15:06:30.092 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
15:06:31.492 make_crepe_action fold started
15:06:31.496 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
15:06:37.505 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
15:06:38.492 make_crepe_action push_off started
15:06:38.496 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
15:06:46.099 make_crepe_action wipe_spatula started
15:06:46.106 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
15:06:49.498 duet1.duet_comm GCODE: G92 A0
15:06:49.520 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