Video

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Frame Analysis

11:40:35 1:49 observation 11:42:24
1 11:41:02
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2 11:41:29
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3 11:41:56
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:40:35 0.007s
prepare 0.0000025829799596976954% 12:40:35 0.011s
oiling 0.02680947445333004% 12:40:37 2.696s
spread_dough 0.10684143006801605% 12:40:45 10.714s
cook 0.2654050886631012% 12:41:01 26.545s
add_topping 0.5654438138008118% 12:41:31 56.547s
fold 0.7192964553833008% 12:41:47 71.930s
push_off 0.9283528923988342% 12:42:08 92.876s
wipe_spatula 1% 12:42:16 101.698s

Machine Logs

12:40:35.213 make_crepe_action Executing make_crepe action
12:40:35.213 crepe_log_node Action status update: 1
12:40:35.216 make_crepe_action prepare started
12:40:35.217 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-24_12-40-35/session.json
12:40:35.219 crepe_log_node Action status update: 2
12:40:35.221 duet1.duet_comm GCODE: G28 X Y
12:40:35.230 duet1.duet_comm GCODE: G92 A0
12:40:35.239 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
12:40:37.896 make_crepe_action oiling started
12:40:37.902 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
12:40:37.907 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
12:40:39.899 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
12:40:39.962 duet1.duet_comm RUN MACRO: oiling_optimized.g
12:40:40.767 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
12:40:44.326 make_crepe_action wait_until: timeout waiting for idle
12:40:44.327 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
12:40:44.328 duet1.duet_comm GCODE: G92 A0
12:40:45.898 make_crepe_action spread_dough started
12:40:45.900 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
12:40:45.902 duet2.duet_comm GCODE: M106 P3 S0.95
12:40:45.909 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
12:40:47.182 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
12:40:47.184 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
12:40:47.984 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
12:40:47.987 duet1.duet_comm RUN MACRO: dough_spread_air.g
12:40:48.006 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
12:40:53.662 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-24_12-38-29/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1293-84cfeaa3.mp4?X-Amz-Expires=3600&X-Amz-Date=20260324T114051Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260324%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=f994e02186fafacd74660c8b0ec0d74f872d26ee12c7ececf83fe9170fee0612
12:41:01.754 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
12:41:01.756 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
12:41:01.754 make_crepe_action cook started
12:41:01.768 duet2.duet_comm GCODE: M106 P3 S0
12:41:31.759 make_crepe_action add_topping started
12:41:31.760 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
12:41:31.764 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
12:41:31.804 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
12:41:31.846 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
12:41:31.893 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'}]
12:41:31.909 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
12:41:31.949 duet1.duet_comm GCODE: G1 A54 B167 F6000
12:41:33.893 duet2.duet_comm GCODE: T3 G1 E1.4003740814963264 F105.02805611222446
12:41:35.194 duet2.duet_comm GCODE: T3 G1 E1.8439281523046094 F86.374749498998
12:41:35.194 duet1.duet_comm RUN MACRO: maus_s.g
12:41:36.998 duet1.duet_comm GCODE: G1 A32 B194 F6000
12:41:38.181 duet2.duet_comm GCODE: T3 G1 E1.8515919482601566 F86.374749498998
12:41:38.184 duet1.duet_comm RUN MACRO: maus_u2.g
12:41:39.998 duet1.duet_comm GCODE: G1 A1 B245 F6000
12:41:40.605 duet2.duet_comm GCODE: T3 G1 E2.01372520531973 F86.374749498998
12:41:40.615 duet1.duet_comm RUN MACRO: maus_a2.g
12:41:42.717 duet1.duet_comm GCODE: G1 A-49 B162 F6000
12:41:44.044 duet2.duet_comm GCODE: T3 G1 E3.5468455999271264 F86.374749498998
12:41:44.049 duet1.duet_comm RUN MACRO: maus_m1.g
12:41:47.143 duet1.duet_comm GCODE: G1 B10 F6000
12:41:47.145 duet2.duet_comm GCODE: T3 G1 E-0.58249832999332 F43.687374749499
12:41:47.146 make_crepe_action fold started
12:41:47.165 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
12:41:47.198 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
12:41:59.898 make_crepe_action fold started
12:41:59.902 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
12:41:59.914 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
12:42:08.050 make_crepe_action push_off started
12:42:08.059 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
12:42:16.891 make_crepe_action wipe_spatula started
12:42:16.893 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