Video

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Frame Analysis

20:56:25 0:20 observation 20:56:45
1 20:56:30
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2 20:56:35
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3 20:56:40
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:56:25 0.009s
spread_dough 0% 21:56:25 0.015s

Machine Logs

21:56:25.940 make_crepe_action Executing make_crepe action
21:56:25.940 crepe_log_node Action status update: 1
21:56:25.941 make_crepe_action Executing single step: spread_dough
21:56:25.943 make_crepe_action spread_dough started
21:56:25.944 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-11_21-56-25/session.json
21:56:25.944 make_crepe_action Full Duration: 10.1s; Speed: 250.0 mm/s; r_critical: 66.1mm; r_stop: 66.1mm ;duration_stop: 8.1s
21:56:25.946 crepe_log_node Action status update: 2
21:56:25.950 duet2.duet_comm GCODE: M42 P2 S1
21:56:25.949 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F6000 G1 A0.76 B162.01 F6000
21:56:28.230 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.8 B162.0 F213.85 G1 A27.8 B164.1 F213.85 G1 A55.1 B166.2 F213.85 G1 A82.9 B168.4 F213.85 G1 A111.1 B170.6 F213.85 G1 A139.8 B172.8 F213.85 G1 A168.9 B175.1 F213.85 G1 A198.5 B177.4 F213.85 G1 A228.7 B179.7 F213.85 G1 A259.3 B182.1 F213.85 G1 A290.6 B184.5 F213.85 G1 A322.4 B187.0 F213.85 G1 A354.9 B189.5 F213.85 G1 A388.1 B192.1 F213.85 G1 A422.0 B194.8 F213.85 G1 A456.7 B197.5 F213.85 G1 A492.3 B200.2 F213.85 G1 A528.7 B203.1 F213.85 G1 A566.1 B206.0 F213.85 G1 A604.6 B209.0 F213.85 G1 A644.2 B212.0 F213.85 G1 A685.1 B215.2 F213.85 G1 A727.4 B218.5 F213.85 G1 A771.2 B221.9 F213.85 G1 A816.7 B225.4 F213.85 G1 A864.2 B229.1 F213.85 G1 A913.9 B233.0 F213.85 G1 A966.2 B237.1 F213.85 G1 A1021.4 B241.3 F213.85 G1 A1080.3 B245.9 F213.85 G94 G1 A2005.4 B312.0 F13000.0 G1 A2378.6 F13000.0 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
21:56:28.280 duet1.duet_comm RUN MACRO: dough_spread_air.g
21:56:28.682 duet2.duet_comm GCODE: T0 G1 E52.34458764569711 F296.34669338677355 G1 E-0.1 F100
21:56:36.274 sync_snapshots Skipping invalid snapshot 2025-12-09_14-21-26-354.json: Expecting value: line 1 column 1 (char 0)
21:56:36.573 sync_snapshots Uploaded snapshot /home/maus/snapshots/2026-01-11_21-56-06-904.json
21:56:44.231 duet1.duet_comm GCODE: G92 A0
21:56:44.231 duet2.duet_comm GCODE: M42 P2 S0
21:56:44.241 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.002
dm 312
flowrate 14
gap 28
max_g_per_rot 3
offset 2
port 0
r_min 2
r0 150
rpm_max 320
spin_out 360
steps 30
tau 686

dispense.oiling

density 0.2
dm 300
flowrate 0.4
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 280
flowrate 2
name blueberry
port 1

dispense.toppings.chocolate

density 0.04
description Rich chocolate topping
display_name Chocolate Sauce
dm 296
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 13000
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