Video

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Frame Analysis

08:24:27 1:51 observation 08:26:18
1 08:24:54
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2 08:25:22
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3 08:25:50
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Phases

Phase Detail Progress Time Elapsed
init 0% 09:24:27 0.006s
prepare 0.000002512030050638714% 09:24:27 0.009s
oiling 0.026989931240677834% 09:24:30 2.732s
spread_dough 0.10694965720176697% 09:24:38 10.699s
cook 0.2640838623046875% 09:24:53 26.410s
add_topping 0.5641693472862244% 09:25:23 56.426s
fold 0.7642226219177246% 09:25:43 76.458s
push_off 0.9440584778785706% 09:26:01 94.421s
wipe_spatula 1% 09:26:10 103.280s

Machine Logs

09:24:27.310 make_crepe_action Executing make_crepe action
09:24:27.310 crepe_log_node Action status update: 1
09:24:27.311 make_crepe_action prepare started
09:24:27.313 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-24_09-24-27/session.json
09:24:27.315 crepe_log_node Action status update: 2
09:24:27.315 duet1.duet_comm GCODE: G28 X Y
09:24:27.324 duet1.duet_comm GCODE: G92 A0
09:24:27.333 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
09:24:30.010 make_crepe_action oiling started
09:24:30.012 make_crepe_action Oiling - Full Duration: 2.8s; Speed: 550.0 mm/s; r_critical: 145.4mm; r_stop: 145.4mm; duration_stop: 0.7s
09:24:30.020 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
09:24:32.000 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.4 B134.5 F2359.50 G1 A9.1 B135.3 F2359.50 G1 A13.9 B136.1 F2359.50 G1 A18.7 B136.9 F2359.50 G1 A23.5 B137.7 F2359.50 G1 A28.3 B138.5 F2359.50 G1 A33.2 B139.3 F2359.50 G1 A38.1 B140.1 F2359.50 G1 A43.0 B140.9 F2359.50 G1 A47.9 B141.7 F2359.50 G1 A52.9 B142.6 F2359.50 G1 A57.9 B143.4 F2359.50 G1 A62.9 B144.2 F2359.50 G1 A67.9 B145.1 F2359.50 G1 A73.0 B145.9 F2359.50 G1 A78.1 B146.8 F2359.50 G1 A83.2 B147.6 F2359.50 G1 A88.3 B148.5 F2359.50 G1 A93.5 B149.3 F2359.50 G1 A98.7 B150.2 F2359.50 G1 A103.9 B151.1 F2359.50 G1 A109.2 B151.9 F2359.50 G1 A114.5 B152.8 F2359.50 G1 A119.8 B153.7 F2359.50 G1 A125.2 B154.6 F2359.50 G1 A130.6 B155.5 F2359.50 G1 A136.0 B156.4 F2359.50 G1 A141.5 B157.3 F2359.50 G1 A146.9 B158.2 F2359.50 G1 A152.5 B159.1 F2359.50 G94 G1 A879.6 B280.3 F13000.0 G1 A1048.8 F13000.0
09:24:32.045 duet1.duet_comm RUN MACRO: oiling_optimized.g
09:24:32.846 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
09:24:36.412 make_crepe_action wait_until: timeout waiting for idle
09:24:36.416 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
09:24:36.436 duet1.duet_comm GCODE: G92 A0
09:24:38.006 make_crepe_action spread_dough started
09:24:38.007 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
09:24:38.009 duet2.duet_comm GCODE: M106 P3 S0.95
09:24:38.016 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
09:24:39.291 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
09:24:39.291 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A1.0 B204.5 F238.45 G1 A22.0 B197.5 F238.45 G1 A43.3 B190.4 F238.45 G1 A65.0 B183.4 F238.45 G1 A87.0 B176.3 F238.45 G1 A109.5 B176.6 F238.45 G1 A132.3 B179.1 F238.45 G1 A155.6 B181.7 F238.45 G1 A179.3 B184.3 F238.45 G1 A203.5 B187.0 F238.45 G1 A228.1 B189.8 F238.45 G1 A253.3 B192.6 F238.45 G1 A279.0 B195.4 F238.45 G1 A305.3 B198.3 F238.45 G1 A332.3 B201.3 F238.45 G1 A359.9 B204.4 F238.45 G1 A388.3 B207.6 F238.45 G1 A417.5 B210.8 F238.45 G1 A447.5 B214.1 F238.45 G1 A478.5 B217.6 F238.45 G1 A510.6 B221.1 F238.45 G1 A543.8 B224.8 F238.45 G1 A578.4 B228.6 F238.45 G1 A614.4 B232.6 F238.45 G1 A652.1 B236.8 F238.45 G1 A691.7 B241.2 F238.45 G1 A733.7 B245.9 F238.45 G1 A778.3 B250.8 F238.45 G1 A826.3 B256.1 F238.45 G1 A878.5 B261.9 F238.45 G94 G1 A1512.0 B322.5 F13000.0 G1 A1872.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
09:24:40.092 duet1.duet_comm RUN MACRO: dough_spread_air.g
09:24:40.092 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
09:24:40.103 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
09:24:53.722 make_crepe_action cook started
09:24:53.723 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
09:24:53.721 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
09:24:53.750 duet2.duet_comm GCODE: M106 P3 S0
09:25:23.728 make_crepe_action add_topping started
09:25:23.729 make_crepe_action No topping selected for shape, skipping
09:25:43.733 make_crepe_action fold started
09:25:43.737 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
09:25:43.752 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 F20000 G1 Y-50 Z-24.825 A8 F3500 G1 X-140 Y-47 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 A0 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
09:25:53.576 make_crepe_action fold started
09:25:53.578 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
09:25:53.591 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 F20000 G1 Y-50 Z-24.825 A8 F3500 G1 X-140 Y-47 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 A0 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
09:26:01.719 make_crepe_action push_off started
09:26:01.729 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 A90 F20000 G1 Z-22.825 Y-50 F3000 G1 Z-4.824999999999999 Y-53 F4000 G1 Z35.175 Y-112.0 F4000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
09:26:10.570 make_crepe_action wipe_spatula started
09:26:10.573 duet1.duet_comm GCODE: G91 G1 U2.5 G90
09:26:10.588 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C340 F20000 G1 Z-41 G1 C5 G1 Z0 G1 X180 C340 G1 Z-41 G1 C5 G1 X0 Y0 Z0 B10 C5 F20000

Comments

Parameters

dispense.dough

cook_time 30
density 0.0012
dm 322.5
extra_time 70
flowrate 11
gap 40
max_g_per_rot 3
offset 2
port 0
r_min 2
r0 158
rpm_max 320
spin_out 360
steps 30
tau 686

dispense.oiling

density 0.000002
dm 304
flowrate 0.066
gap 60
offset 13
r_min 27
r0 170
steps 30
valve_closed 70
valve_open 0.1

dispense.toppings

available ["plain","apple","chocolate","blueberry"]
svg_design_center [200,200]
svg_file_path /home/maus/ros2_ws/src/recipe_runner/recipe_runner/svg_designs/maus.svg
svg_resolution 10

dispense.toppings.apple

density 0.03
description Feines Apfelmus, süß und fruchtig – der Klassiker.
display_name Apfelmus
dm 297.5
flowrate 1.3
max_g_per_rot 0.88
name apple
port 2
price 7
rpm_max 180
tau 175.5

dispense.toppings.blueberry

density 0.012
description Fruchtige Blaubeeren - ein absoluter Must-Have.
display_name Blaubeeren
dm 285
flowrate 1.1
max_g_per_rot 0.88
name blueberry
port 3
price 7
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.02
description Warme, zartschmelzende Schokolade. Einfach unwiderstehlich!
display_name Schokolade
dm 310
flowrate 0.9
max_g_per_rot 0.88
name chocolate
port 1
price 7
rpm_max 180
tau 175.5

dispense.toppings.plain

description Ohne irgendwas - nur der crêpe.
display_name Natur
name plain
price 6

general

estimated_time_to_finish 90
start_type_description_service true
use_sim_time false

machine

a_max_deg_per_min 13000
pos_idle G1 X0 Y0 Z0 B10 C5 F20000
x_scrape -115
x_spread 23
y_center -53
y_end -90
y_start -14
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 -23.2
z_spread_end -12.3
z_spread_start -13.6
z_thread_pitch 15