Video

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Frame Analysis

21:00:58 0:18 observation 21:01:16
1 21:01:02
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2 21:01:07
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3 21:01:11
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Phases

Phase Detail Progress Time Elapsed
init 0% 22:00:58 0.005s
spread_dough 0% 22:00:58 0.010s

Machine Logs

22:00:58.062 make_crepe_action Executing make_crepe action
22:00:58.062 crepe_log_node Action status update: 1
22:00:58.064 make_crepe_action Executing single step: spread_dough
22:00:58.065 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-11_22-00-58/session.json
22:00:58.066 make_crepe_action spread_dough started
22:00:58.067 crepe_log_node Action status update: 2
22:00:58.067 make_crepe_action Full Duration: 9.1s; Speed: 243.1 mm/s; r_critical: 64.3mm; r_stop: 64.3mm ;duration_stop: 7.4s
22:00:58.069 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F6000 G1 A0.76 B162.01 F6000
22:00:58.069 duet2.duet_comm GCODE: M42 P2 S1
22:01:00.331 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.8 B162.0 F234.52 G1 A24.7 B164.1 F234.52 G1 A49.0 B166.3 F234.52 G1 A73.6 B168.5 F234.52 G1 A98.7 B170.7 F234.52 G1 A124.1 B173.0 F234.52 G1 A149.9 B175.3 F234.52 G1 A176.2 B177.6 F234.52 G1 A203.0 B180.0 F234.52 G1 A230.2 B182.4 F234.52 G1 A258.0 B184.9 F234.52 G1 A286.3 B187.4 F234.52 G1 A315.2 B190.0 F234.52 G1 A344.8 B192.6 F234.52 G1 A375.0 B195.3 F234.52 G1 A405.9 B198.0 F234.52 G1 A437.5 B200.8 F234.52 G1 A470.0 B203.7 F234.52 G1 A503.4 B206.7 F234.52 G1 A537.7 B209.7 F234.52 G1 A573.2 B212.9 F234.52 G1 A609.7 B216.1 F234.52 G1 A647.6 B219.5 F234.52 G1 A686.9 B223.0 F234.52 G1 A727.8 B226.6 F234.52 G1 A770.5 B230.4 F234.52 G1 A815.3 B234.4 F234.52 G1 A862.5 B238.6 F234.52 G1 A912.6 B243.0 F234.52 G1 A966.2 B247.8 F234.52 G94 G1 A1737.1 B312.0 F13000.0 G1 A2137.5 F13000.0 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
22:01:00.378 duet1.duet_comm RUN MACRO: dough_spread_air.g
22:01:00.779 duet2.duet_comm GCODE: T0 G1 E47.050608605184664 F294.42885771543087 G1 E-0.1 F100
22:01:06.274 sync_snapshots Skipping invalid snapshot 2025-12-09_14-21-26-354.json: Expecting value: line 1 column 1 (char 0)
22:01:06.491 sync_snapshots Uploaded snapshot /home/maus/snapshots/2026-01-11_22-00-36-904.json
22:01:15.031 duet2.duet_comm GCODE: M42 P2 S0
22:01:15.034 duet1.duet_comm GCODE: G92 A0
22:01:15.045 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0018
dm 312
flowrate 14
gap 32
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