Video

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Frame Analysis

17:08:29 0:04 observation 17:08:33
1 17:08:30
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2 17:08:31
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3 17:08:32
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Phases

Phase Detail Progress Time Elapsed
init 0% 18:08:30 0.183s
wipe_spatula 0% 18:08:30 0.229s

Machine Logs

18:08:29.909 crepe_log_node Action status update: 1
18:08:29.909 make_crepe_action Executing make_crepe action
18:08:29.911 make_crepe_action Executing single step: wipe_spatula
18:08:29.913 make_crepe_action wipe_spatula started
18:08:29.913 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_18-08-29/session.json
18:08:29.918 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C340 F20000 G1 Z-42 G1 C135 G1 C140 Z-30 G1 C5 G1 X0 Y0 Z0 B5 C5 F20000
18:08:30.092 crepe_log_node Action status update: 2
18:08:30.488 crepe_log_node Action status update: 3

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