Video

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Frame Analysis

16:12:43 0:24 observation 16:13:07
1 16:12:49
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2 16:12:55
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3 16:13:01
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:12:43 0.003s
spread_dough_air 0% 17:12:43 0.010s

Machine Logs

17:12:43.603 make_crepe_action Executing make_crepe action
17:12:43.606 make_crepe_action Executing single step: spread_dough_air
17:12:43.607 crepe_log_node Action status update: 1
17:12:43.608 make_crepe_action spread_dough_air started
17:12:43.610 make_crepe_action Full Duration: 12.8s; Speed: 166.7 mm/s; r_critical: 47.7mm; r_stop: 47.7mm ;duration_stop: 11.4s
17:12:43.615 duet2.duet_comm GCODE: M42 P3 S1
17:12:43.617 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-06_17-12-43/session.json
17:12:43.618 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F6000 G1 A0.80 B171.01 F6000
17:12:43.624 crepe_log_node Action status update: 2
17:12:45.998 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.8 B171.0 F152.42 G1 A27.3 B173.2 F152.42 G1 A54.2 B175.5 F152.42 G1 A81.6 B177.7 F152.42 G1 A109.4 B180.1 F152.42 G1 A137.8 B182.4 F152.42 G1 A166.6 B184.8 F152.42 G1 A196.0 B187.3 F152.42 G1 A226.0 B189.8 F152.42 G1 A256.6 B192.3 F152.42 G1 A287.8 B194.9 F152.42 G1 A319.8 B197.6 F152.42 G1 A352.5 B200.3 F152.42 G1 A385.9 B203.1 F152.42 G1 A420.3 B206.0 F152.42 G1 A455.6 B208.9 F152.42 G1 A491.9 B211.9 F152.42 G1 A529.3 B215.0 F152.42 G1 A568.0 B218.3 F152.42 G1 A608.0 B221.6 F152.42 G1 A649.5 B225.0 F152.42 G1 A692.6 B228.6 F152.42 G1 A737.7 B232.4 F152.42 G1 A785.0 B236.3 F152.42 G1 A834.7 B240.5 F152.42 G1 A887.5 B244.8 F152.42 G1 A943.9 B249.5 F152.42 G1 A1004.7 B254.6 F152.42 G1 A1071.2 B260.1 F152.42 G1 A1145.4 B266.3 F152.42 G94 G1 A1431.7 B314.0 Z-12.30 F12000.0 G1 A1986.0 F12000.0 G1 A2166.0 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
17:12:46.044 duet1.duet_comm RUN MACRO: dough_spread_air.g
17:12:46.445 duet2.duet_comm GCODE: T0 G1 E90 F420 G1 E-1 F100
17:13:06.094 duet1.duet_comm GCODE: G92 A0
17:13:06.094 duet2.duet_comm GCODE: M42 P3 S0
17:13:06.103 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0014
dm 314
flowrate 7
gap 30
offset 2
r_min 1
r0 143
spin_out 360
steps 30

dispense.oiling

density 0.002
dm 300
flowrate 40
gap 60
offset 13
r_min 27
r0 140
steps 30
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 274
flowrate 2
name blueberry
port 1

dispense.toppings.chocolate

density 0.04
description Rich chocolate topping
display_name Chocolate Sauce
dm 294
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 -12.3
z_spread_start -13.6
z_thread_pitch 15