Video

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Frame Analysis

08:45:14 1:49 observation 08:47:03
1 08:45:41
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2 08:46:08
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3 08:46:35
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Phases

Phase Detail Progress Time Elapsed
init 0% 09:45:14 0.007s
prepare 0.000005391309969127178% 09:45:14 0.011s
oiling 0.026689397171139717% 09:45:17 2.683s
spread_dough 0.10661127418279648% 09:45:25 10.690s
cook 0.26381269097328186% 09:45:40 26.410s
add_topping 0.5638357996940613% 09:46:10 56.384s
fold 0.7082918882369995% 09:46:25 70.856s
push_off 0.9166524410247803% 09:46:46 91.666s
wipe_spatula 1% 09:46:54 100.524s

Machine Logs

09:45:14.340 make_crepe_action Executing make_crepe action
09:45:14.340 crepe_log_node Action status update: 1
09:45:14.342 make_crepe_action prepare started
09:45:14.343 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-24_09-45-14/session.json
09:45:14.344 duet1.duet_comm GCODE: G28 X Y
09:45:14.346 crepe_log_node Action status update: 2
09:45:14.353 duet1.duet_comm GCODE: G92 A0
09:45:14.363 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
09:45:17.010 make_crepe_action oiling started
09:45:17.014 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
09:45:17.018 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
09:45:19.000 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
09:45:19.063 duet1.duet_comm RUN MACRO: oiling_optimized.g
09:45:19.870 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
09:45:23.435 make_crepe_action wait_until: timeout waiting for idle
09:45:23.436 duet1.duet_comm GCODE: G92 A0
09:45:23.436 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
09:45:23.584 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-24_09-43-10/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1231-0f91c485.mp4?X-Amz-Expires=3600&X-Amz-Date=20260324T084521Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260324%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=660898759a3fb86f85f40e1abbb65b056a4521288766e20c8c04c1730006b8fc
09:45:25.002 make_crepe_action spread_dough started
09:45:25.003 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
09:45:25.004 duet2.duet_comm GCODE: M106 P3 S0.95
09:45:25.022 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
09:45:26.290 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
09:45:26.292 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
09:45:27.091 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
09:45:27.091 duet1.duet_comm RUN MACRO: dough_spread_air.g
09:45:27.102 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
09:45:40.722 make_crepe_action cook started
09:45:40.726 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
09:45:40.727 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
09:45:40.757 duet2.duet_comm GCODE: M106 P3 S0
09:46:10.725 make_crepe_action add_topping started
09:46:10.726 make_crepe_action Topping: blueberry, Port: 3, Density: 0.012, Flowrate: 1.1, DM: 285.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.010909090909090908
09:46:10.728 duet1.duet_comm UPLOAD MACRO: maus_s.g G93 G1 A54 B167 F550.00 G1 A49 B168 F550.00 G1 A45 B175 F550.00 G1 A43 B184 F550.00 G1 A46 B191 F550.00 G1 A52 B187 F550.00 G1 A56 B180 F550.00 G1 A62 B177 F550.00 G1 A66 B183 F550.00 G1 A65 B194 F550.00 G1 A61 B202 F550.00 G1 A54 B204 F550.00 G94
09:46:10.768 duet1.duet_comm UPLOAD MACRO: maus_u2.g G93 G1 A32 B194 F550.00 G1 A36 B203 F550.00 G1 A40 B212 F550.00 G1 A47 B220 F550.00 G1 A48 B221 F550.00 G1 A44 B220 F550.00 G1 A42 B231 F550.00 G1 A34 B238 F550.00 G1 A23 B235 F550.00 G1 A17 B226 F550.00 G1 A15 B215 F550.00 G1 A13 B205 F550.00 G94
09:46:10.813 duet1.duet_comm UPLOAD MACRO: maus_a2.g G93 G1 A1 B245 F550.00 G1 A1 B234 F550.00 G1 A0 B224 F550.00 G1 A0 B213 F550.00 G1 A0 B211 F550.00 G1 A-3 B209 F550.00 G1 A-9 B205 F550.00 G1 A-16 B210 F550.00 G1 A-21 B219 F550.00 G1 A-23 B229 F550.00 G1 A-21 B239 F550.00 G1 A-9 B244 F550.00 G1 A1 B237 F550.00 G94
09:46:10.854 make_crepe_action Uploaded 4 path macros. Starting execution.: [{'name': 'maus_s.g', 'length': 117.414, 'start_coord': {'d': 166.845, 'rot': 54.266}, 'g_code': 'G93\nG1 A54 B167 F550.00\nG1 A49 B168 F550.00\nG1 A45 B175 F550.00\nG1 A43 B184 F550.00\nG1 A46 B191 F550.00\nG1 A52 B187 F550.00\nG1 A56 B180 F550.00\nG1 A62 B177 F550.00\nG1 A66 B183 F550.00\nG1 A65 B194 F550.00\nG1 A61 B202 F550.00\nG1 A54 B204 F550.00\nG94'}, {'name': 'maus_u2.g', 'length': 117.902, 'start_coord': {'d': 193.909, 'rot': 31.688}, 'g_code': 'G93\nG1 A32 B194 F550.00\nG1 A36 B203 F550.00\nG1 A40 B212 F550.00\nG1 A47 B220 F550.00\nG1 A48 B221 F550.00\nG1 A44 B220 F550.00\nG1 A42 B231 F550.00\nG1 A34 B238 F550.00\nG1 A23 B235 F550.00\nG1 A17 B226 F550.00\nG1 A15 B215 F550.00\nG1 A13 B205 F550.00\nG94'}, {'name': 'maus_a2.g', 'length': 128.226, 'start_coord': {'d': 244.989, 'rot': 0.695}, 'g_code': 'G93\nG1 A1 B245 F550.00\nG1 A1 B234 F550.00\nG1 A0 B224 F550.00\nG1 A0 B213 F550.00\nG1 A0 B211 F550.00\nG1 A-3 B209 F550.00\nG1 A-9 B205 F550.00\nG1 A-16 B210 F550.00\nG1 A-21 B219 F550.00\nG1 A-23 B229 F550.00\nG1 A-21 B239 F550.00\nG1 A-9 B244 F550.00\nG1 A1 B237 F550.00\nG94'}, {'name': 'maus_m1.g', 'length': 225.849, 'start_coord': {'d': 161.572, 'rot': -49.323}, 'g_code': 'G93\nG1 A-49 B162 F550.00\nG1 A-53 B168 F550.00\nG1 A-57 B174 F550.00\nG1 A-62 B179 F550.00\nG1 A-65 B181 F550.00\nG1 A-60 B176 F550.00\nG1 A-55 B171 F550.00\nG1 A-51 B169 F550.00\nG1 A-46 B171 F550.00\nG1 A-42 B178 F550.00\nG1 A-43 B187 F550.00\nG1 A-47 B195 F550.00\nG1 A-52 B201 F550.00\nG1 A-57 B206 F550.00\nG1 A-51 B200 F550.00\nG1 A-46 B193 F550.00\nG1 A-41 B189 F550.00\nG1 A-35 B189 F550.00\nG1 A-30 B194 F550.00\nG1 A-29 B203 F550.00\nG1 A-32 B212 F550.00\nG1 A-37 B220 F550.00\nG1 A-43 B228 F550.00\nG94'}]
09:46:10.873 duet1.duet_comm UPLOAD MACRO: maus_m1.g G93 G1 A-49 B162 F550.00 G1 A-53 B168 F550.00 G1 A-57 B174 F550.00 G1 A-62 B179 F550.00 G1 A-65 B181 F550.00 G1 A-60 B176 F550.00 G1 A-55 B171 F550.00 G1 A-51 B169 F550.00 G1 A-46 B171 F550.00 G1 A-42 B178 F550.00 G1 A-43 B187 F550.00 G1 A-47 B195 F550.00 G1 A-52 B201 F550.00 G1 A-57 B206 F550.00 G1 A-51 B200 F550.00 G1 A-46 B193 F550.00 G1 A-41 B189 F550.00 G1 A-35 B189 F550.00 G1 A-30 B194 F550.00 G1 A-29 B203 F550.00 G1 A-32 B212 F550.00 G1 A-37 B220 F550.00 G1 A-43 B228 F550.00 G94
09:46:10.913 duet1.duet_comm GCODE: G1 A54 B167 F6000
09:46:12.865 duet2.duet_comm GCODE: T3 G1 E1.4003740814963264 F105.02805611222446
09:46:14.159 duet1.duet_comm RUN MACRO: maus_s.g
09:46:14.172 duet2.duet_comm GCODE: T3 G1 E1.8439281523046094 F86.374749498998
09:46:15.888 duet1.duet_comm GCODE: G1 A32 B194 F6000
09:46:16.575 duet2.duet_comm GCODE: T3 G1 E1.8515919482601566 F86.374749498998
09:46:16.575 duet1.duet_comm RUN MACRO: maus_u2.g
09:46:18.311 duet1.duet_comm GCODE: G1 A1 B245 F6000
09:46:19.008 duet1.duet_comm RUN MACRO: maus_a2.g
09:46:19.005 duet2.duet_comm GCODE: T3 G1 E2.01372520531973 F86.374749498998
09:46:21.034 duet1.duet_comm GCODE: G1 A-49 B162 F6000
09:46:22.288 duet1.duet_comm RUN MACRO: maus_m1.g
09:46:22.290 duet2.duet_comm GCODE: T3 G1 E3.5468455999271264 F86.374749498998
09:46:25.171 make_crepe_action fold started
09:46:25.184 duet2.duet_comm GCODE: T3 G1 E-0.58249832999332 F43.687374749499
09:46:25.181 duet1.duet_comm GCODE: G1 B10 F6000
09:46:25.206 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
09:46:25.218 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
09:46:37.864 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
09:46:37.864 make_crepe_action fold started
09:46:37.876 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
09:46:46.007 make_crepe_action push_off started
09:46:46.013 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
09:46:54.864 make_crepe_action wipe_spatula started
09:46:54.864 duet1.duet_comm GCODE: G91 G1 U2.5 G90
09:46:54.877 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