Video

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Frame Analysis

10:47:25 0:17 observation 10:47:42
1 10:47:29
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2 10:47:33
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3 10:47:37
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Phases

Phase Detail Progress Time Elapsed
init 0% 11:47:25 0.005s
spread_dough 0% 11:47:25 0.010s

Machine Logs

11:47:25.794 crepe_log_node Action status update: 1
11:47:25.794 make_crepe_action Executing make_crepe action
11:47:25.795 make_crepe_action Executing single step: spread_dough
11:47:25.796 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_11-47-25/session.json
11:47:25.796 make_crepe_action spread_dough started
11:47:25.798 make_crepe_action Full Duration: 7.9s; Speed: 250.0 mm/s; r_critical: 66.1mm; r_stop: 66.1mm ;duration_stop: 6.3s
11:47:25.798 crepe_log_node Action status update: 2
11:47:25.804 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F6000 G1 A0.76 B162.01 F6000
11:47:25.805 duet2.duet_comm GCODE: M106 P3 S1
11:47:28.065 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B183.6 F274.95 G1 A21.9 B183.6 F274.95 G1 A43.2 B183.6 F274.95 G1 A64.8 B183.6 F274.95 G1 A86.7 B183.6 F274.95 G1 A109.0 B183.6 F274.95 G1 A131.6 B183.6 F274.95 G1 A154.6 B183.6 F274.95 G1 A178.1 B183.6 F274.95 G1 A201.9 B183.6 F274.95 G1 A226.2 B184.5 F274.95 G1 A251.0 B187.0 F274.95 G1 A276.3 B189.5 F274.95 G1 A302.1 B192.1 F274.95 G1 A328.5 B194.8 F274.95 G1 A355.5 B197.5 F274.95 G1 A383.1 B200.2 F274.95 G1 A411.4 B203.1 F274.95 G1 A440.5 B206.0 F274.95 G1 A470.5 B209.0 F274.95 G1 A501.3 B212.0 F274.95 G1 A533.1 B215.2 F274.95 G1 A566.0 B218.5 F274.95 G1 A600.1 B221.9 F274.95 G1 A635.5 B225.4 F274.95 G1 A672.5 B229.1 F274.95 G1 A711.1 B233.0 F274.95 G1 A751.8 B237.1 F274.95 G1 A794.8 B241.3 F274.95 G1 A840.6 B245.9 F274.95 G94 G1 A1590.0 B312.0 F13000.0 G1 A1950.0 F13000.0 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
11:47:28.114 duet1.duet_comm RUN MACRO: dough_spread_air.g
11:47:28.514 duet2.duet_comm GCODE: T0 G1 E19.524262571927025 F185.1122244488978
11:47:28.532 duet2.duet_comm GCODE: T0 G1 E4.60921538718362 F136.52705410821642
11:47:41.467 duet2.duet_comm GCODE: M106 P3 S0
11:47:41.468 duet1.duet_comm GCODE: G92 A0
11:47:41.478 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.001
dm 312
flowrate 9
gap 36
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