Video

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Frame Analysis

14:44:23 0:20 observation 14:44:43
1 14:44:28
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2 14:44:33
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3 14:44:38
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:44:23 0.006s
add_topping 0% 15:44:23 0.011s

Machine Logs

15:44:23.324 crepe_log_node Action status update: 1
15:44:23.324 make_crepe_action Executing make_crepe action
15:44:23.326 make_crepe_action Executing single step: add_topping
15:44:23.327 make_crepe_action add_topping started
15:44:23.327 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_15-44-23/session.json
15:44:23.329 make_crepe_action Topping: chocolate, Port: 1, Density: 0.02, Flowrate: 0.9, DM: 296.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.022222222222222223
15:44:23.329 crepe_log_node Action status update: 2
15:44:23.332 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-4 B193 F270.00 G1 A-1 B202 F270.00 G1 A3 B212 F270.00 G1 A8 B220 F270.00 G1 A15 B228 F270.00 G1 A23 B235 F270.00 G1 A33 B240 F270.00 G1 A44 B243 F270.00 G94
15:44:23.446 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A19 B186 F270.00 G1 A18 B197 F270.00 G1 A16 B208 F270.00 G1 A13 B219 F270.00 G1 A10 B230 F270.00 G1 A5 B240 F270.00 G1 A-2 B250 F270.00 G1 A-13 B259 F270.00 G94
15:44:23.567 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-61 B257 F270.00 G1 A-50 B251 F270.00 G1 A-41 B243 F270.00 G1 A-35 B235 F270.00 G1 A-30 B226 F270.00 G1 A-26 B216 F270.00 G1 A-23 B207 F270.00 G1 A-26 B201 F270.00 G1 A-31 B196 F270.00 G1 A-36 B190 F270.00 G1 A-41 B186 F270.00 G1 A-46 B188 F270.00 G1 A-51 B194 F270.00 G1 A-53 B203 F270.00 G1 A-52 B213 F270.00 G1 A-48 B221 F270.00 G1 A-42 B228 F270.00 G1 A-34 B234 F270.00 G94
15:44:23.682 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 F270.00\nG1 A-1 B202 F270.00\nG1 A3 B212 F270.00\nG1 A8 B220 F270.00\nG1 A15 B228 F270.00\nG1 A23 B235 F270.00\nG1 A33 B240 F270.00\nG1 A44 B243 F270.00\nG94'}, {'name': 'leadXpro_X.g', 'length': 79.947, 'start_coord': {'d': 186.084, 'rot': 19.319}, 'g_code': 'G93\nG1 A19 B186 F270.00\nG1 A18 B197 F270.00\nG1 A16 B208 F270.00\nG1 A13 B219 F270.00\nG1 A10 B230 F270.00\nG1 A5 B240 F270.00\nG1 A-2 B250 F270.00\nG1 A-13 B259 F270.00\nG94'}, {'name': 'leadXpro_P.g', 'length': 176.311, 'start_coord': {'d': 256.942, 'rot': -61.371}, 'g_code': 'G93\nG1 A-61 B257 F270.00\nG1 A-50 B251 F270.00\nG1 A-41 B243 F270.00\nG1 A-35 B235 F270.00\nG1 A-30 B226 F270.00\nG1 A-26 B216 F270.00\nG1 A-23 B207 F270.00\nG1 A-26 B201 F270.00\nG1 A-31 B196 F270.00\nG1 A-36 B190 F270.00\nG1 A-41 B186 F270.00\nG1 A-46 B188 F270.00\nG1 A-51 B194 F270.00\nG1 A-53 B203 F270.00\nG1 A-52 B213 F270.00\nG1 A-48 B221 F270.00\nG1 A-42 B228 F270.00\nG1 A-34 B234 F270.00\nG94'}, {'name': 'leadXpro_L.g', 'length': 104.527, 'start_coord': {'d': 186.142, 'rot': 45.079}, 'g_code': 'G93\nG1 A45 B186 F270.00\nG1 A49 B193 F270.00\nG1 A54 B199 F270.00\nG1 A59 B205 F270.00\nG1 A65 B210 F270.00\nG1 A72 B213 F270.00\nG1 A79 B216 F270.00\nG1 A81 B223 F270.00\nG1 A79 B233 F270.00\nG1 A77 B243 F270.00\nG1 A74 B254 F270.00\nG94'}]
15:44:23.695 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A45 B186 F270.00 G1 A49 B193 F270.00 G1 A54 B199 F270.00 G1 A59 B205 F270.00 G1 A65 B210 F270.00 G1 A72 B213 F270.00 G1 A79 B216 F270.00 G1 A81 B223 F270.00 G1 A79 B233 F270.00 G1 A77 B243 F270.00 G1 A74 B254 F270.00 G94
15:44:23.821 duet1.duet_comm GCODE: G1 A-4 B193 F6000
15:44:25.861 duet1.duet_comm RUN MACRO: leadXpro_X2.g
15:44:25.861 duet2.duet_comm GCODE: T1 G1 E1.962745430861724 F66.2865731462926
15:44:27.662 duet1.duet_comm GCODE: G1 A19 B186 F6000
15:44:28.561 duet1.duet_comm RUN MACRO: leadXpro_X.g
15:44:28.561 duet2.duet_comm GCODE: T1 G1 E1.962745430861724 F66.2865731462926
15:44:30.361 duet1.duet_comm GCODE: G1 A-61 B257 F6000
15:44:31.864 duet2.duet_comm GCODE: T1 G1 E4.328537777035554 F66.2865731462926
15:44:31.864 duet1.duet_comm RUN MACRO: leadXpro_P.g
15:44:35.964 duet1.duet_comm GCODE: G1 A45 B186 F6000
15:44:37.364 duet1.duet_comm RUN MACRO: leadXpro_L.g
15:44:37.364 duet2.duet_comm GCODE: T1 G1 E2.5661987523194543 F66.2865731462926
15:44:40.261 duet1.duet_comm GCODE: G1 B5 F6000
15:44:40.272 duet1.duet_comm GCODE: G92 A0
15:44:40.284 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 0.02
description Rich chocolate topping
display_name Chocolate Sauce
dm 296
flowrate 0.9
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