Video

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Frame Analysis

14:31:15 0:15 observation 14:31:30
1 14:31:18
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2 14:31:22
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3 14:31:26
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:31:15 0.008s
add_topping 0% 15:31:15 0.013s

Machine Logs

15:31:15.829 make_crepe_action Executing make_crepe action
15:31:15.829 crepe_log_node Action status update: 1
15:31:15.831 make_crepe_action Executing single step: add_topping
15:31:15.832 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_15-31-15/session.json
15:31:15.832 make_crepe_action add_topping started
15:31:15.834 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
15:31:15.835 crepe_log_node Action status update: 2
15:31:15.838 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-4 B193 F16500.00 G1 A-1 B202 F16500.00 G1 A3 B212 F16500.00 G1 A8 B220 F16500.00 G1 A15 B228 F16500.00 G1 A23 B235 F16500.00 G1 A33 B240 F16500.00 G1 A44 B243 F16500.00 G94
15:31:15.890 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A19 B186 F16500.00 G1 A18 B197 F16500.00 G1 A16 B208 F16500.00 G1 A13 B219 F16500.00 G1 A10 B230 F16500.00 G1 A5 B240 F16500.00 G1 A-2 B250 F16500.00 G1 A-13 B259 F16500.00 G94
15:31:15.969 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-61 B257 F16500.00 G1 A-50 B251 F16500.00 G1 A-41 B243 F16500.00 G1 A-35 B235 F16500.00 G1 A-30 B226 F16500.00 G1 A-26 B216 F16500.00 G1 A-23 B207 F16500.00 G1 A-26 B201 F16500.00 G1 A-31 B196 F16500.00 G1 A-36 B190 F16500.00 G1 A-41 B186 F16500.00 G1 A-46 B188 F16500.00 G1 A-51 B194 F16500.00 G1 A-53 B203 F16500.00 G1 A-52 B213 F16500.00 G1 A-48 B221 F16500.00 G1 A-42 B228 F16500.00 G1 A-34 B234 F16500.00 G94
15:31:16.008 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A45 B186 F16500.00 G1 A49 B193 F16500.00 G1 A54 B199 F16500.00 G1 A59 B205 F16500.00 G1 A65 B210 F16500.00 G1 A72 B213 F16500.00 G1 A79 B216 F16500.00 G1 A81 B223 F16500.00 G1 A79 B233 F16500.00 G1 A77 B243 F16500.00 G1 A74 B254 F16500.00 G94
15:31:16.008 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 F16500.00\nG1 A-1 B202 F16500.00\nG1 A3 B212 F16500.00\nG1 A8 B220 F16500.00\nG1 A15 B228 F16500.00\nG1 A23 B235 F16500.00\nG1 A33 B240 F16500.00\nG1 A44 B243 F16500.00\nG94'}, {'name': 'leadXpro_X.g', 'length': 79.947, 'start_coord': {'d': 186.084, 'rot': 19.319}, 'g_code': 'G93\nG1 A19 B186 F16500.00\nG1 A18 B197 F16500.00\nG1 A16 B208 F16500.00\nG1 A13 B219 F16500.00\nG1 A10 B230 F16500.00\nG1 A5 B240 F16500.00\nG1 A-2 B250 F16500.00\nG1 A-13 B259 F16500.00\nG94'}, {'name': 'leadXpro_P.g', 'length': 176.311, 'start_coord': {'d': 256.942, 'rot': -61.371}, 'g_code': 'G93\nG1 A-61 B257 F16500.00\nG1 A-50 B251 F16500.00\nG1 A-41 B243 F16500.00\nG1 A-35 B235 F16500.00\nG1 A-30 B226 F16500.00\nG1 A-26 B216 F16500.00\nG1 A-23 B207 F16500.00\nG1 A-26 B201 F16500.00\nG1 A-31 B196 F16500.00\nG1 A-36 B190 F16500.00\nG1 A-41 B186 F16500.00\nG1 A-46 B188 F16500.00\nG1 A-51 B194 F16500.00\nG1 A-53 B203 F16500.00\nG1 A-52 B213 F16500.00\nG1 A-48 B221 F16500.00\nG1 A-42 B228 F16500.00\nG1 A-34 B234 F16500.00\nG94'}, {'name': 'leadXpro_L.g', 'length': 104.527, 'start_coord': {'d': 186.142, 'rot': 45.079}, 'g_code': 'G93\nG1 A45 B186 F16500.00\nG1 A49 B193 F16500.00\nG1 A54 B199 F16500.00\nG1 A59 B205 F16500.00\nG1 A65 B210 F16500.00\nG1 A72 B213 F16500.00\nG1 A79 B216 F16500.00\nG1 A81 B223 F16500.00\nG1 A79 B233 F16500.00\nG1 A77 B243 F16500.00\nG1 A74 B254 F16500.00\nG94'}]
15:31:16.064 duet1.duet_comm GCODE: G1 A-4 B193 F6000
15:31:18.167 duet2.duet_comm GCODE: T1 G1 E4.1850921807250865 F86.374749498998
15:31:18.169 duet1.duet_comm RUN MACRO: leadXpro_X2.g
15:31:19.161 duet1.duet_comm GCODE: G1 A19 B186 F6000
15:31:20.063 duet1.duet_comm RUN MACRO: leadXpro_X.g
15:31:20.063 duet2.duet_comm GCODE: T1 G1 E4.1850921807250865 F86.374749498998
15:31:20.873 duet1.duet_comm GCODE: G1 A-61 B257 F6000
15:31:22.362 duet1.duet_comm RUN MACRO: leadXpro_P.g
15:31:22.362 duet2.duet_comm GCODE: T1 G1 E9.229586944798688 F86.374749498998
15:31:24.260 duet1.duet_comm GCODE: G1 A45 B186 F6000
15:31:25.663 duet2.duet_comm GCODE: T1 G1 E5.471814206595008 F86.374749498998
15:31:25.663 duet1.duet_comm RUN MACRO: leadXpro_L.g
15:31:27.162 duet1.duet_comm GCODE: G1 B5 F6000
15:31:27.172 duet1.duet_comm GCODE: G92 A0
15:31:27.185 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