Video

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Frame Analysis

12:38:43 1:45 observation 12:40:28
1 12:39:09
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2 12:39:35
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3 12:40:01
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Phases

Phase Detail Progress Time Elapsed
init 0% 13:38:43 0.007s
prepare 0% 13:38:43 0.011s
oiling_optimized 0% 13:38:46 3.151s
spread_dough_optimized 0% 13:38:55 11.451s
add_topping_shape 0% 13:39:51 67.653s
fold 0% 13:40:01 77.684s
push_off 0% 13:40:16 92.655s
wipe_spatula 0% 13:40:23 100.252s

Machine Logs

13:38:43.586 make_crepe_action Executing make_crepe action
13:38:43.586 crepe_log_node Action status update: 1
13:38:43.588 make_crepe_action prepare started
13:38:43.589 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-12_13-38-43/session.json
13:38:43.590 duet1.duet_comm GCODE: G28 X Y
13:38:43.592 crepe_log_node Action status update: 2
13:38:43.600 duet1.duet_comm GCODE: G92 A0
13:38:43.612 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
13:38:46.738 make_crepe_action oiling_optimized started
13:38:46.739 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
13:38:46.741 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000
13:38:48.345 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
13:38:48.387 duet1.duet_comm RUN MACRO: oiling_optimized.g
13:38:48.788 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
13:38:51.871 make_crepe_action wait_until: timeout waiting for idle
13:38:51.873 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
13:38:51.875 duet1.duet_comm GCODE: G92 A0
13:38:51.887 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
13:38:55.039 make_crepe_action spread_dough_optimized started
13:38:55.040 make_crepe_action Full Duration: 17.4s; Speed: 204.7 mm/s; r_critical: 58.6mm; r_stop: 58.6mm ;duration_stop: 14.5s
13:38:55.041 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.00 A8.85 B148.70 F6000
13:38:57.241 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A8.8 B148.7 Z-14.00 F78.59 G1 A72.4 B151.9 Z-13.97 F78.59 G1 A137.4 B155.2 Z-13.94 F78.59 G1 A203.9 B158.6 Z-13.91 F78.59 G1 A272.2 B162.0 Z-13.88 F78.59 G1 A342.4 B165.5 Z-13.85 F78.59 G1 A414.5 B169.2 Z-13.82 F78.59 G1 A488.9 B173.0 Z-13.78 F78.59 G1 A565.7 B176.9 Z-13.75 F78.59 G1 A645.1 B180.9 Z-13.71 F78.59 G1 A727.5 B185.1 Z-13.67 F78.59 G1 A813.2 B189.4 Z-13.64 F78.59 G1 A902.6 B194.0 Z-13.60 F78.59 G1 A996.3 B198.8 Z-13.55 F78.59 G1 A1095.0 B203.8 Z-13.51 F78.59 G1 A1199.6 B209.2 Z-13.46 F78.59 G1 A1311.2 B214.9 Z-13.41 F78.59 G1 A1431.5 B221.1 Z-13.36 F78.59 G1 A1562.9 B228.0 Z-13.30 F78.59 G1 A1709.3 B235.6 Z-13.23 F78.59 G94 G1 A1896.0 B266.8 Z-12.70 F12000.0 G1 A3083.4 F12000.0 G1 Z0 A3263.4 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
13:38:57.283 duet1.duet_comm RUN MACRO: dough_spread_optimized.g
13:38:57.687 duet2.duet_comm GCODE: T0 G1 E255 F840 G1 E-1 F100
13:39:23.240 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000
13:39:51.241 make_crepe_action add_topping_shape started
13:39:51.241 make_crepe_action No topping selected for shape, skipping
13:40:01.243 make_crepe_action fold started
13:40:01.243 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0
13:40:01.255 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
13:40:07.845 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000
13:40:09.237 make_crepe_action fold started
13:40:09.240 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
13:40:15.242 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000
13:40:16.242 make_crepe_action push_off started
13:40:16.244 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
13:40:23.839 make_crepe_action wipe_spatula started
13:40:23.842 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
13:40:27.237 duet1.duet_comm GCODE: G92 A0
13:40:27.245 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0038
dm 290
flowrate 14
gap 18
offset 22
r_min 32
r0 143
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/leadXpro.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 -12.7
z_spread_start -14
z_thread_pitch 15