Video

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Frame Analysis

18:36:04 0:12 observation 18:36:16
1 18:36:07
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2 18:36:10
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3 18:36:13
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:36:04 0.009s
oiling 0% 19:36:04 0.013s

Machine Logs

19:36:04.665 crepe_log_node Action status update: 1
19:36:04.665 make_crepe_action Executing make_crepe action
19:36:04.667 make_crepe_action Executing single step: oiling
19:36:04.669 make_crepe_action oiling started
19:36:04.670 make_crepe_action Oiling - Full Duration: 6.1s; Speed: 220.0 mm/s; r_critical: 58.2mm; r_stop: 58.2mm; duration_stop: 5.3s
19:36:04.670 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-18_19-36-04/session.json
19:36:04.671 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.66 B144.53 F6000
19:36:04.674 crepe_log_node Action status update: 2
19:36:06.262 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.7 B144.5 F329.09 G1 A19.2 B146.9 F329.09 G1 A34.0 B149.4 F329.09 G1 A49.0 B151.9 F329.09 G1 A64.3 B154.4 F329.09 G1 A79.8 B157.0 F329.09 G1 A95.6 B159.7 F329.09 G1 A111.7 B162.3 F329.09 G1 A128.1 B165.1 F329.09 G1 A144.8 B167.9 F329.09 G1 A161.9 B170.7 F329.09 G1 A179.4 B173.6 F329.09 G1 A197.3 B176.6 F329.09 G1 A215.6 B179.6 F329.09 G1 A234.3 B182.7 F329.09 G1 A253.6 B185.9 F329.09 G1 A273.4 B189.2 F329.09 G1 A293.8 B192.6 F329.09 G1 A314.8 B196.1 F329.09 G1 A336.5 B199.7 F329.09 G1 A359.1 B203.5 F329.09 G1 A382.5 B207.3 F329.09 G1 A406.8 B211.4 F329.09 G1 A432.4 B215.6 F329.09 G1 A459.2 B220.1 F329.09 G1 A487.5 B224.8 F329.09 G1 A517.6 B229.7 F329.09 G1 A550.0 B235.1 F329.09 G1 A585.1 B240.9 F329.09 G1 A623.8 B247.3 F329.09 G94 G1 A822.1 B280.3 F13000.0 G1 A988.8 F13000.0
19:36:06.303 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:36:06.704 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:36:12.800 make_crepe_action wait_until: timeout waiting for idle
19:36:12.802 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:36:12.804 duet1.duet_comm GCODE: G92 A0
19:36:12.814 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000
19:36:14.642 sync_snapshots Uploaded snapshot /home/maus/snapshots/2026-01-18_19-35-45-688.json

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 0.000005
dm 304
flowrate 0.066
gap 60
offset 13
r_min 27
r0 160
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