Video

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Frame Analysis

11:58:03 0:18 observation 11:58:21
1 11:58:07
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2 11:58:12
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3 11:58:16
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:58:03 0.008s
spread_dough 0% 12:58:04 0.779s

Machine Logs

12:58:03.876 make_crepe_action Executing make_crepe action
12:58:03.876 crepe_log_node Action status update: 1
12:58:03.877 make_crepe_action Executing single step: spread_dough
12:58:03.880 make_crepe_action spread_dough started
12:58:03.881 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-25_12-58-03/session.json
12:58:03.883 crepe_log_node Action status update: 2
12:58:03.883 make_crepe_action Full Duration: 8.0s; Speed: 294.1 mm/s; r_critical: 77.8mm; r_stop: 77.8mm ;duration_stop: 6.1s
12:58:03.894 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F8000 G1 A0.91 B186.02 F8000
12:58:04.752 duet2.duet_comm GCODE: M106 P3 S1
12:58:05.394 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B186.0 F283.29 G1 A23.3 B178.8 F283.29 G1 A46.0 B171.6 F283.29 G1 A69.1 B164.4 F283.29 G1 A92.5 B160.7 F283.29 G1 A116.2 B162.9 F283.29 G1 A140.4 B165.2 F283.29 G1 A164.9 B167.5 F283.29 G1 A189.8 B169.9 F283.29 G1 A215.1 B172.3 F283.29 G1 A240.9 B174.7 F283.29 G1 A267.2 B177.2 F283.29 G1 A293.9 B179.7 F283.29 G1 A321.1 B182.3 F283.29 G1 A348.9 B184.9 F283.29 G1 A377.3 B187.6 F283.29 G1 A406.4 B190.3 F283.29 G1 A436.1 B193.1 F283.29 G1 A466.5 B196.0 F283.29 G1 A497.6 B198.9 F283.29 G1 A529.6 B201.9 F283.29 G1 A562.6 B205.0 F283.29 G1 A596.5 B208.2 F283.29 G1 A631.5 B211.5 F283.29 G1 A667.6 B215.0 F283.29 G1 A705.1 B218.5 F283.29 G1 A744.1 B222.2 F283.29 G1 A784.8 B226.0 F283.29 G1 A827.3 B230.0 F283.29 G1 A872.1 B234.2 F283.29 G94 G1 A1784.1 B312.0 F13000.0 G1 A2144.1 F13000.0 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0
12:58:05.395 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
12:58:06.202 duet1.duet_comm RUN MACRO: dough_spread_air.g
12:58:06.383 duet2.duet_comm GCODE: T0 G1 E23.792103778497133 F232.4188376753507
12:58:06.691 duet2.duet_comm GCODE: T0 G1 E7.124498525608694 F178.08016032064128

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