Video

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Frame Analysis

14:52:08 0:04 observation 14:52:12
1 14:52:09
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2 14:52:10
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3 14:52:11
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:52:08 0.008s
wipe_spatula 0% 15:52:08 0.012s

Machine Logs

15:52:08.616 make_crepe_action Executing make_crepe action
15:52:08.616 crepe_log_node Action status update: 1
15:52:08.619 make_crepe_action Executing single step: wipe_spatula
15:52:08.620 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-09_15-52-08/session.json
15:52:08.620 make_crepe_action wipe_spatula started
15:52:08.623 crepe_log_node Action status update: 2
15:52:08.626 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
15:52:12.091 duet1.duet_comm GCODE: G92 A0
15:52:12.102 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0032
dm 290
flowrate 14
gap 30
offset 22
r_min 30
r0 140
spin_out 360
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/venturekick.svg
svg_resolution 10

dispense.toppings.blueberry

density 0.027
description Blueberry topping
display_name Blueberry Sauce
dm 318
flowrate 2
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 -14.2
z_thread_pitch 15