Video

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Frame Analysis

11:06:07 0:18 observation 11:06:25
1 11:06:11
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2 11:06:16
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3 11:06:20
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:06:07 0.007s
spread_dough 0% 12:06:07 0.012s

Machine Logs

12:06:07.467 make_crepe_action Executing make_crepe action
12:06:07.468 crepe_log_node Action status update: 1
12:06:07.468 make_crepe_action Executing single step: spread_dough
12:06:07.469 make_crepe_action spread_dough started
12:06:07.471 make_crepe_action Full Duration: 9.5s; Speed: 248.9 mm/s; r_critical: 65.8mm; r_stop: 65.8mm ;duration_stop: 7.9s
12:06:07.472 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_12-06-07/session.json
12:06:07.473 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F6000 G1 A0.72 B152.01 F6000
12:06:07.474 crepe_log_node Action status update: 2
12:06:07.474 duet2.duet_comm GCODE: M106 P3 S1
12:06:09.568 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B186.0 F220.35 G1 A25.2 B167.5 F220.35 G1 A50.0 B156.7 F220.35 G1 A75.2 B159.0 F220.35 G1 A100.8 B161.5 F220.35 G1 A126.8 B163.9 F220.35 G1 A153.3 B166.4 F220.35 G1 A180.2 B169.0 F220.35 G1 A207.6 B171.5 F220.35 G1 A235.5 B174.2 F220.35 G1 A264.0 B176.9 F220.35 G1 A293.0 B179.6 F220.35 G1 A322.6 B182.4 F220.35 G1 A353.0 B185.3 F220.35 G1 A384.0 B188.2 F220.35 G1 A415.7 B191.2 F220.35 G1 A448.3 B194.3 F220.35 G1 A481.8 B197.4 F220.35 G1 A516.2 B200.7 F220.35 G1 A551.6 B204.0 F220.35 G1 A588.2 B207.5 F220.35 G1 A626.0 B211.0 F220.35 G1 A665.2 B214.7 F220.35 G1 A705.9 B218.6 F220.35 G1 A748.5 B222.6 F220.35 G1 A793.0 B226.8 F220.35 G1 A839.8 B231.2 F220.35 G1 A889.4 B235.9 F220.35 G1 A942.2 B240.9 F220.35 G1 A999.0 B246.2 F220.35 G94 G1 A1784.1 B312.0 F13000.0 G1 A2144.1 F13000.0 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
12:06:09.614 duet1.duet_comm RUN MACRO: dough_spread_air.g
12:06:10.015 duet2.duet_comm GCODE: T0 G1 E30.588972854653967 F232.4188376753507
12:06:10.034 duet2.duet_comm GCODE: T0 G1 E6.00966276255767 F171.04809619238478
12:06:14.185 sync_snapshots Skipping invalid snapshot 2025-12-09_14-21-26-354.json: Expecting value: line 1 column 1 (char 0)
12:06:14.260 sync_snapshots Uploaded snapshot /home/maus/snapshots/2026-01-18_12-05-57-572.json
12:06:24.764 duet1.duet_comm GCODE: G92 A0
12:06:24.764 duet2.duet_comm GCODE: M106 P3 S0
12:06:24.776 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0013
dm 312
flowrate 11
gap 34
max_g_per_rot 3
offset 2
port 0
r_min 2
r0 160
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