Video

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Frame Analysis

20:58:05 0:07 observation 20:58:12
1 20:58:06
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2 20:58:08
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3 20:58:10
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:58:05 0.005s
fold 0% 21:58:05 0.010s

Machine Logs

21:58:05.449 make_crepe_action Executing make_crepe action
21:58:05.449 crepe_log_node Action status update: 1
21:58:05.450 make_crepe_action Executing single step: fold
21:58:05.451 make_crepe_action fold started
21:58:05.451 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-11_21-58-05/session.json
21:58:05.453 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
21:58:05.453 crepe_log_node Action status update: 2
21:58:06.274 sync_snapshots Skipping invalid snapshot 2025-12-09_14-21-26-354.json: Expecting value: line 1 column 1 (char 0)
21:58:06.537 sync_snapshots Uploaded snapshot /home/maus/snapshots/2026-01-11_21-57-36-904.json
21:58:11.433 duet1.duet_comm GCODE: G92 A0
21:58:11.444 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