Video

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Frame Analysis

09:32:04 0:18 observation 09:32:22
1 09:32:08
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2 09:32:13
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3 09:32:17
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Phases

Phase Detail Progress Time Elapsed
init 0% 10:32:04 0.010s
spread_dough 0% 10:32:04 0.015s

Machine Logs

10:32:04.076 make_crepe_action Executing make_crepe action
10:32:04.078 make_crepe_action Executing single step: spread_dough
10:32:04.078 crepe_log_node Action status update: 1
10:32:04.078 make_crepe_action spread_dough started
10:32:04.079 make_crepe_action Full Duration: 9.1s; Speed: 243.1 mm/s; r_critical: 64.3mm; r_stop: 64.3mm ;duration_stop: 7.4s
10:32:04.081 duet2.duet_comm GCODE: M106 P3 S0.95
10:32:04.082 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_10-32-04/session.json
10:32:04.085 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F6000 G1 A0.76 B162.01 F6000
10:32:04.086 crepe_log_node Action status update: 2
10:32:06.365 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
10:32:06.410 duet1.duet_comm RUN MACRO: dough_spread_air.g
10:32:06.811 duet2.duet_comm GCODE: T0 G1 E39.09648002036531 F316.1643286573146
10:32:06.826 duet2.duet_comm GCODE: T0 G1 E7.885336164553857 F149.312625250501
10:32:21.068 duet2.duet_comm GCODE: M106 P3 S0
10:32:21.071 duet1.duet_comm GCODE: G92 A0
10:32:21.082 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