Video

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Frame Analysis

14:12:01 1:35 observation 14:13:36
1 14:12:24
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2 14:12:48
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3 14:13:12
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:12:01 0.007s
prepare 0% 15:12:01 0.008s
oiling_optimized 0% 15:12:04 3.168s
spread_dough_optimized 0% 15:12:12 11.471s
add_topping_shape 0% 15:12:59 58.766s
fold 0% 15:13:09 68.768s
push_off 0% 15:13:24 83.767s
wipe_spatula 0% 15:13:32 91.363s

Machine Logs

15:12:01.024 make_crepe_action Executing make_crepe action
15:12:01.024 crepe_log_node Action status update: 1
15:12:01.026 make_crepe_action prepare started
15:12:01.027 duet1.duet_comm GCODE: G28 X Y
15:12:01.030 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-09_15-12-01/session.json
15:12:01.033 crepe_log_node Action status update: 2
15:12:01.040 duet1.duet_comm GCODE: G92 A0
15:12:01.050 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
15:12:04.195 make_crepe_action oiling_optimized started
15:12:04.197 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
15:12:04.198 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
15:12:05.792 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
15:12:05.838 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:12:06.239 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:12:09.323 make_crepe_action wait_until: timeout waiting for idle
15:12:09.326 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:12:09.327 duet1.duet_comm GCODE: G92 A0
15:12:09.338 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
15:12:12.499 make_crepe_action spread_dough_optimized started
15:12:12.500 make_crepe_action Full Duration: 10.6s; Speed: 194.4 mm/s; r_critical: 55.7mm; r_stop: 55.7mm ;duration_stop: 8.9s
15:12:12.503 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.90 A9.04 B151.74 F6000
15:12:14.698 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.90 F128.31 G1 A46.9 B154.9 Z-14.85 F128.31 G1 A85.6 B158.2 Z-14.80 F128.31 G1 A125.3 B161.5 Z-14.75 F128.31 G1 A166.1 B164.9 Z-14.70 F128.31 G1 A207.9 B168.4 Z-14.64 F128.31 G1 A251.0 B172.1 Z-14.59 F128.31 G1 A295.5 B175.8 Z-14.53 F128.31 G1 A341.4 B179.7 Z-14.47 F128.31 G1 A389.0 B183.7 Z-14.41 F128.31 G1 A438.3 B187.9 Z-14.34 F128.31 G1 A489.7 B192.2 Z-14.28 F128.31 G1 A543.5 B196.7 Z-14.21 F128.31 G1 A599.9 B201.5 Z-14.13 F128.31 G1 A659.4 B206.6 Z-14.06 F128.31 G1 A722.6 B211.9 Z-13.97 F128.31 G1 A790.3 B217.7 Z-13.89 F128.31 G1 A863.6 B224.0 Z-13.79 F128.31 G1 A944.2 B230.9 Z-13.69 F128.31 G1 A1034.8 B238.8 Z-13.58 F128.31 G94 G1 A1248.0 B274.3 Z-12.70 F12000.0 G1 A1734.6 F12000.0 G1 Z0 A1914.6 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
15:12:14.744 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
15:12:15.145 duet2.duet_comm GCODE: T0 G1 E154 F840 G1 E-1 F100
15:12:31.794 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
15:12:59.794 make_crepe_action add_topping_shape started
15:12:59.795 make_crepe_action No topping selected for shape, skipping
15:13:09.796 make_crepe_action fold started
15:13:09.796 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
15:13:09.807 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
15:13:16.392 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
15:13:17.789 make_crepe_action fold started
15:13:17.790 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
15:13:23.793 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
15:13:24.795 make_crepe_action push_off started
15:13:24.801 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
15:13:32.390 make_crepe_action wipe_spatula started
15:13:32.394 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
15:13:35.794 duet1.duet_comm GCODE: G92 A0
15:13:35.806 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0024
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 -12.7
z_spread_start -14.9
z_thread_pitch 15