Video

0:00 / 0:00

Frame Analysis

17:06:41 0:14 observation 17:06:55
1 17:06:44
Loading...
2 17:06:48
Loading...
3 17:06:51
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 18:06:41 0.004s
add_topping 0% 18:06:41 0.010s

Machine Logs

18:06:41.153 crepe_log_node Action status update: 1
18:06:41.153 make_crepe_action Executing make_crepe action
18:06:41.154 make_crepe_action Executing single step: add_topping
18:06:41.154 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_18-06-41/session.json
18:06:41.156 make_crepe_action add_topping started
18:06:41.156 crepe_log_node Action status update: 2
18:06:41.158 make_crepe_action Topping: chocolate, Port: 1, Density: 0.016, Flowrate: 1.1, DM: 296.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.014545454545454545
18:06:41.164 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-4 B193 F412.50 G1 A-1 B202 F412.50 G1 A3 B212 F412.50 G1 A8 B220 F412.50 G1 A15 B228 F412.50 G1 A23 B235 F412.50 G1 A33 B240 F412.50 G1 A44 B243 F412.50 G94
18:06:41.202 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A19 B186 F412.50 G1 A18 B197 F412.50 G1 A16 B208 F412.50 G1 A13 B219 F412.50 G1 A10 B230 F412.50 G1 A5 B240 F412.50 G1 A-2 B250 F412.50 G1 A-13 B259 F412.50 G94
18:06:41.238 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-61 B257 F412.50 G1 A-50 B251 F412.50 G1 A-41 B243 F412.50 G1 A-35 B235 F412.50 G1 A-30 B226 F412.50 G1 A-26 B216 F412.50 G1 A-23 B207 F412.50 G1 A-26 B201 F412.50 G1 A-31 B196 F412.50 G1 A-36 B190 F412.50 G1 A-41 B186 F412.50 G1 A-46 B188 F412.50 G1 A-51 B194 F412.50 G1 A-53 B203 F412.50 G1 A-52 B213 F412.50 G1 A-48 B221 F412.50 G1 A-42 B228 F412.50 G1 A-34 B234 F412.50 G94
18:06:41.238 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 F412.50\nG1 A-1 B202 F412.50\nG1 A3 B212 F412.50\nG1 A8 B220 F412.50\nG1 A15 B228 F412.50\nG1 A23 B235 F412.50\nG1 A33 B240 F412.50\nG1 A44 B243 F412.50\nG94'}, {'name': 'leadXpro_X.g', 'length': 79.947, 'start_coord': {'d': 186.084, 'rot': 19.319}, 'g_code': 'G93\nG1 A19 B186 F412.50\nG1 A18 B197 F412.50\nG1 A16 B208 F412.50\nG1 A13 B219 F412.50\nG1 A10 B230 F412.50\nG1 A5 B240 F412.50\nG1 A-2 B250 F412.50\nG1 A-13 B259 F412.50\nG94'}, {'name': 'leadXpro_P.g', 'length': 176.311, 'start_coord': {'d': 256.942, 'rot': -61.371}, 'g_code': 'G93\nG1 A-61 B257 F412.50\nG1 A-50 B251 F412.50\nG1 A-41 B243 F412.50\nG1 A-35 B235 F412.50\nG1 A-30 B226 F412.50\nG1 A-26 B216 F412.50\nG1 A-23 B207 F412.50\nG1 A-26 B201 F412.50\nG1 A-31 B196 F412.50\nG1 A-36 B190 F412.50\nG1 A-41 B186 F412.50\nG1 A-46 B188 F412.50\nG1 A-51 B194 F412.50\nG1 A-53 B203 F412.50\nG1 A-52 B213 F412.50\nG1 A-48 B221 F412.50\nG1 A-42 B228 F412.50\nG1 A-34 B234 F412.50\nG94'}, {'name': 'leadXpro_L.g', 'length': 104.527, 'start_coord': {'d': 186.142, 'rot': 45.079}, 'g_code': 'G93\nG1 A45 B186 F412.50\nG1 A49 B193 F412.50\nG1 A54 B199 F412.50\nG1 A59 B205 F412.50\nG1 A65 B210 F412.50\nG1 A72 B213 F412.50\nG1 A79 B216 F412.50\nG1 A81 B223 F412.50\nG1 A79 B233 F412.50\nG1 A77 B243 F412.50\nG1 A74 B254 F412.50\nG94'}]
18:06:41.289 duet1.duet_comm GCODE: G1 A-4 B193 F6000
18:06:41.298 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A45 B186 F412.50 G1 A49 B193 F412.50 G1 A54 B199 F412.50 G1 A59 B205 F412.50 G1 A65 B210 F412.50 G1 A72 B213 F412.50 G1 A79 B216 F412.50 G1 A81 B223 F412.50 G1 A79 B233 F412.50 G1 A77 B243 F412.50 G1 A74 B254 F412.50 G94
18:06:43.361 duet2.duet_comm GCODE: T1 G1 E0.58249832999332 F43.687374749499
18:06:43.462 duet1.duet_comm RUN MACRO: leadXpro_X2.g
18:06:43.462 duet2.duet_comm GCODE: T1 G1 E1.6740368722900347 F86.374749498998
18:06:44.572 sync_snapshots Uploaded snapshot /home/maus/snapshots/2026-01-18_18-06-15-688.json
18:06:44.760 duet1.duet_comm GCODE: G1 A19 B186 F6000
18:06:45.662 duet2.duet_comm GCODE: T1 G1 E1.6740368722900347 F86.374749498998
18:06:45.663 duet1.duet_comm RUN MACRO: leadXpro_X.g
18:06:46.961 duet1.duet_comm GCODE: G1 A-61 B257 F6000
18:06:48.461 duet1.duet_comm RUN MACRO: leadXpro_P.g
18:06:48.461 duet2.duet_comm GCODE: T1 G1 E3.6918347779194756 F86.374749498998
18:06:51.361 duet1.duet_comm GCODE: G1 A45 B186 F6000
18:06:52.762 duet1.duet_comm RUN MACRO: leadXpro_L.g
18:06:52.762 duet2.duet_comm GCODE: T1 G1 E2.1887256826380033 F86.374749498998

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 0.016
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