Video

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Frame Analysis

14:24:50 0:14 observation 14:25:04
1 14:24:53
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2 14:24:57
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3 14:25:00
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:24:50 0.018s
add_topping 0% 15:24:50 0.028s

Machine Logs

15:24:50.497 crepe_log_node Action status update: 1
15:24:50.497 make_crepe_action Executing make_crepe action
15:24:50.499 make_crepe_action Executing single step: add_topping
15:24:50.501 make_crepe_action add_topping started
15:24:50.502 make_crepe_action Topping: chocolate, Port: 1, Density: 0.04, Flowrate: 1.1, DM: 296.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.03636363636363636
15:24:50.507 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_15-24-50/session.json
15:24:50.509 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-4 B193 F1650.00 G1 A-1 B202 F1650.00 G1 A3 B212 F1650.00 G1 A8 B220 F1650.00 G1 A15 B228 F1650.00 G1 A23 B235 F1650.00 G1 A33 B240 F1650.00 G1 A44 B243 F1650.00 G94
15:24:50.514 crepe_log_node Action status update: 2
15:24:50.574 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A19 B186 F1650.00 G1 A18 B197 F1650.00 G1 A16 B208 F1650.00 G1 A13 B219 F1650.00 G1 A10 B230 F1650.00 G1 A5 B240 F1650.00 G1 A-2 B250 F1650.00 G1 A-13 B259 F1650.00 G94
15:24:50.613 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-61 B257 F1650.00 G1 A-50 B251 F1650.00 G1 A-41 B243 F1650.00 G1 A-35 B235 F1650.00 G1 A-30 B226 F1650.00 G1 A-26 B216 F1650.00 G1 A-23 B207 F1650.00 G1 A-26 B201 F1650.00 G1 A-31 B196 F1650.00 G1 A-36 B190 F1650.00 G1 A-41 B186 F1650.00 G1 A-46 B188 F1650.00 G1 A-51 B194 F1650.00 G1 A-53 B203 F1650.00 G1 A-52 B213 F1650.00 G1 A-48 B221 F1650.00 G1 A-42 B228 F1650.00 G1 A-34 B234 F1650.00 G94
15:24:50.653 make_crepe_action Uploaded 4 path macros. Starting execution.: [{'name': 'leadXpro_X2.g', 'length': 79.947, 'start_coord': {'d': 192.775, 'rot': -4.482}, 'g_code': 'G93\nG1 A-4 B193 F1650.00\nG1 A-1 B202 F1650.00\nG1 A3 B212 F1650.00\nG1 A8 B220 F1650.00\nG1 A15 B228 F1650.00\nG1 A23 B235 F1650.00\nG1 A33 B240 F1650.00\nG1 A44 B243 F1650.00\nG94'}, {'name': 'leadXpro_X.g', 'length': 79.947, 'start_coord': {'d': 186.084, 'rot': 19.319}, 'g_code': 'G93\nG1 A19 B186 F1650.00\nG1 A18 B197 F1650.00\nG1 A16 B208 F1650.00\nG1 A13 B219 F1650.00\nG1 A10 B230 F1650.00\nG1 A5 B240 F1650.00\nG1 A-2 B250 F1650.00\nG1 A-13 B259 F1650.00\nG94'}, {'name': 'leadXpro_P.g', 'length': 176.311, 'start_coord': {'d': 256.942, 'rot': -61.371}, 'g_code': 'G93\nG1 A-61 B257 F1650.00\nG1 A-50 B251 F1650.00\nG1 A-41 B243 F1650.00\nG1 A-35 B235 F1650.00\nG1 A-30 B226 F1650.00\nG1 A-26 B216 F1650.00\nG1 A-23 B207 F1650.00\nG1 A-26 B201 F1650.00\nG1 A-31 B196 F1650.00\nG1 A-36 B190 F1650.00\nG1 A-41 B186 F1650.00\nG1 A-46 B188 F1650.00\nG1 A-51 B194 F1650.00\nG1 A-53 B203 F1650.00\nG1 A-52 B213 F1650.00\nG1 A-48 B221 F1650.00\nG1 A-42 B228 F1650.00\nG1 A-34 B234 F1650.00\nG94'}, {'name': 'leadXpro_L.g', 'length': 104.527, 'start_coord': {'d': 186.142, 'rot': 45.079}, 'g_code': 'G93\nG1 A45 B186 F1650.00\nG1 A49 B193 F1650.00\nG1 A54 B199 F1650.00\nG1 A59 B205 F1650.00\nG1 A65 B210 F1650.00\nG1 A72 B213 F1650.00\nG1 A79 B216 F1650.00\nG1 A81 B223 F1650.00\nG1 A79 B233 F1650.00\nG1 A77 B243 F1650.00\nG1 A74 B254 F1650.00\nG94'}]
15:24:50.668 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A45 B186 F1650.00 G1 A49 B193 F1650.00 G1 A54 B199 F1650.00 G1 A59 B205 F1650.00 G1 A65 B210 F1650.00 G1 A72 B213 F1650.00 G1 A79 B216 F1650.00 G1 A81 B223 F1650.00 G1 A79 B233 F1650.00 G1 A77 B243 F1650.00 G1 A74 B254 F1650.00 G94
15:24:50.709 duet1.duet_comm GCODE: G1 A-4 B193 F6000
15:24:52.766 duet1.duet_comm RUN MACRO: leadXpro_X2.g
15:24:52.767 duet2.duet_comm GCODE: T1 G1 E4.1850921807250865 F86.374749498998
15:24:53.769 duet1.duet_comm GCODE: G1 A19 B186 F6000
15:24:54.661 duet1.duet_comm RUN MACRO: leadXpro_X.g
15:24:54.661 duet2.duet_comm GCODE: T1 G1 E4.1850921807250865 F86.374749498998
15:24:55.461 duet1.duet_comm GCODE: G1 A-61 B257 F6000
15:24:56.461 duet2.duet_comm GCODE: T1 G1 E9.229586944798688 F86.374749498998
15:24:56.465 duet1.duet_comm RUN MACRO: leadXpro_P.g
15:24:58.361 duet1.duet_comm GCODE: G1 A45 B186 F6000
15:24:59.762 duet1.duet_comm RUN MACRO: leadXpro_L.g
15:24:59.762 duet2.duet_comm GCODE: T1 G1 E5.471814206595008 F86.374749498998
15:25:01.262 duet1.duet_comm GCODE: G1 B5 F6000
15:25:01.272 duet1.duet_comm GCODE: G92 A0
15:25:01.286 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0011
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 0.04
description Blueberry topping
display_name Blueberry Sauce
dm 280
flowrate 1.1
max_g_per_rot 0.88
name blueberry
port 2
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.04
description Rich chocolate topping
display_name Chocolate Sauce
dm 296
flowrate 1.1
max_g_per_rot 0.88
name chocolate
port 1
rpm_max 180
tau 175.5

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