Video

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Frame Analysis

15:30:26 1:48 observation 15:32:14
1 15:30:53
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2 15:31:20
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3 15:31:47
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:30:26 0.009s
prepare 0% 16:30:26 0.013s
oiling_optimized 0% 16:30:29 3.167s
spread_dough_optimized 0% 16:30:38 11.502s
add_topping_shape 0% 16:31:30 64.077s
fold 0% 16:31:43 76.870s
push_off 0% 16:32:02 96.184s
wipe_spatula 0% 16:32:10 103.770s

Machine Logs

16:30:26.622 make_crepe_action Executing make_crepe action
16:30:26.622 crepe_log_node Action status update: 1
16:30:26.624 make_crepe_action prepare started
16:30:26.625 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-09_16-30-26/session.json
16:30:26.628 duet1.duet_comm GCODE: G28 X Y
16:30:26.630 crepe_log_node Action status update: 2
16:30:26.638 duet1.duet_comm GCODE: G92 A0
16:30:26.647 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:30:29.790 make_crepe_action oiling_optimized started
16:30:29.791 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
16:30:29.795 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
16:30:31.392 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
16:30:31.435 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:30:31.836 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:30:34.921 make_crepe_action wait_until: timeout waiting for idle
16:30:34.925 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:30:34.929 duet1.duet_comm GCODE: G92 A0
16:30:34.944 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
16:30:38.092 make_crepe_action spread_dough_optimized started
16:30:38.093 make_crepe_action Full Duration: 15.1s; Speed: 145.8 mm/s; r_critical: 41.8mm; r_stop: 41.8mm ;duration_stop: 13.8s
16:30:38.095 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.20 A8.73 B146.68 F6000
16:30:40.792 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A8.7 B146.7 Z-14.20 F82.34 G1 A51.5 B150.3 Z-14.16 F82.34 G1 A95.3 B153.9 Z-14.12 F82.34 G1 A140.3 B157.7 Z-14.07 F82.34 G1 A186.7 B161.6 Z-14.03 F82.34 G1 A234.4 B165.6 Z-13.98 F82.34 G1 A283.8 B169.8 Z-13.93 F82.34 G1 A334.8 B174.1 Z-13.88 F82.34 G1 A387.8 B178.5 Z-13.83 F82.34 G1 A443.0 B183.2 Z-13.78 F82.34 G1 A500.6 B188.0 Z-13.72 F82.34 G1 A561.0 B193.2 Z-13.66 F82.34 G1 A624.7 B198.5 Z-13.60 F82.34 G1 A692.3 B204.3 Z-13.54 F82.34 G1 A764.5 B210.4 Z-13.47 F82.34 G1 A842.6 B217.1 Z-13.39 F82.34 G1 A928.1 B224.4 Z-13.31 F82.34 G1 A1023.7 B232.6 Z-13.22 F82.34 G1 A1134.3 B242.3 Z-13.12 F82.34 G1 A1270.4 B254.5 Z-12.99 F82.34 G94 G1 A1344.1 B266.8 Z-12.50 F12000.0 G1 A1963.4 F12000.0 G1 Z0 A2143.4 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
16:30:40.838 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
16:30:41.238 duet2.duet_comm GCODE: T0 G1 E222 F840 G1 E-1 F100
16:31:02.700 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
16:31:30.700 make_crepe_action add_topping_shape started
16:31:30.702 duet1.duet_comm UPLOAD MACRO: venturekick_K2.g G93 G1 A-43 B192 F444.44 G1 A-42 B202 F444.44 G1 A-41 B212 F444.44 G1 A-40 B221 F444.44 G1 A-39 B231 F444.44 G1 A-37 B240 F444.44 G1 A-42 B245 F444.44 G1 A-50 B247 F444.44 G1 A-58 B248 F444.44 G1 A-66 B247 F444.44 G1 A-73 B245 F444.44 G1 A-79 B241 F444.44 G94
16:31:30.742 duet1.duet_comm UPLOAD MACRO: venturekick_K.g G93 G1 A-25 B206 F444.44 G1 A-27 B216 F444.44 G1 A-30 B227 F444.44 G1 A-34 B237 F444.44 G1 A-39 B248 F444.44 G1 A-45 B258 F444.44 G1 A-54 B269 F444.44 G1 A-66 B279 F444.44 G94
16:31:30.796 duet1.duet_comm UPLOAD MACRO: venturekick_V.g G93 G1 A-6 B212 F444.44 G1 A-5 B221 F444.44 G1 A-3 B230 F444.44 G1 A-1 B239 F444.44 G1 A2 B247 F444.44 G1 A6 B255 F444.44 G1 A10 B262 F444.44 G1 A16 B268 F444.44 G1 A24 B272 F444.44 G1 A24 B263 F444.44 G1 A23 B253 F444.44 G1 A23 B243 F444.44 G1 A23 B233 F444.44 G1 A22 B223 F444.44 G1 A22 B213 F444.44 G1 A22 B203 F444.44 G1 A22 B193 F444.44 G94
16:31:30.838 make_crepe_action Uploaded 3 path macros. Starting execution.
16:31:30.840 duet1.duet_comm GCODE: G1 A-43 B192 F6000
16:31:34.691 duet1.duet_comm RUN MACRO: venturekick_K2.g
16:31:34.691 duet2.duet_comm GCODE: T1 G1 E3.0 F120
16:31:36.391 duet1.duet_comm GCODE: G1 A-25 B206 F6000
16:31:37.992 duet1.duet_comm RUN MACRO: venturekick_K.g
16:31:37.992 duet2.duet_comm GCODE: T1 G1 E2.0 F120
16:31:39.292 duet1.duet_comm GCODE: G1 A-6 B212 F6000
16:31:40.592 duet1.duet_comm RUN MACRO: venturekick_V.g
16:31:40.592 duet2.duet_comm GCODE: T1 G1 E4.3 F120
16:31:43.493 duet1.duet_comm GCODE: G1 B5 F6000
16:31:43.493 make_crepe_action fold started
16:31:43.503 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
16:31:43.512 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
16:31:54.391 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
16:31:55.796 make_crepe_action fold started
16:31:55.800 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
16:32:01.792 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
16:32:02.794 make_crepe_action push_off started
16:32:02.804 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
16:32:10.393 make_crepe_action wipe_spatula started
16:32:10.395 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
16:32:13.792 duet1.duet_comm GCODE: G92 A0
16:32:13.804 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 32
r0 145
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