Video

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Frame Analysis

13:59:46 1:51 observation 14:01:37
1 14:00:13
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2 14:00:41
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3 14:01:09
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:59:46 0.008s
prepare 0.000003016860091520357% 14:59:46 0.013s
oiling 0.026525644585490227% 14:59:49 2.653s
spread_dough 0.10656564682722092% 14:59:57 10.657s
cook 0.2651255428791046% 15:00:12 26.524s
add_topping 0.5651455521583557% 15:00:42 56.541s
fold 0.7651928067207336% 15:01:02 76.521s
push_off 0.9453115463256836% 15:01:20 94.558s
wipe_spatula 1% 15:01:29 103.361s

Machine Logs

14:59:46.385 make_crepe_action Executing make_crepe action
14:59:46.386 crepe_log_node Action status update: 1
14:59:46.387 make_crepe_action prepare started
14:59:46.390 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-24_14-59-46/session.json
14:59:46.391 duet1.duet_comm GCODE: G28 X Y
14:59:46.392 crepe_log_node Action status update: 2
14:59:46.401 duet1.duet_comm GCODE: G92 A0
14:59:46.409 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:59:49.040 make_crepe_action oiling started
14:59:49.042 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
14:59:49.044 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:59:51.035 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
14:59:51.081 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:59:51.883 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:59:55.451 make_crepe_action wait_until: timeout waiting for idle
14:59:55.464 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:59:55.483 duet1.duet_comm GCODE: G92 A0
14:59:57.045 make_crepe_action spread_dough started
14:59:57.047 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
14:59:57.052 duet2.duet_comm GCODE: M106 P3 S0.95
14:59:57.053 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
14:59:58.331 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
14:59:58.334 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:59:59.135 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:59:59.137 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
14:59:59.148 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
15:00:12.900 make_crepe_action cook started
15:00:12.901 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:00:12.901 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:00:12.917 duet2.duet_comm GCODE: M106 P3 S0
15:00:42.902 make_crepe_action add_topping started
15:00:42.904 make_crepe_action No topping selected for shape, skipping
15:01:02.907 make_crepe_action fold started
15:01:02.907 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:01:02.918 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
15:01:12.750 make_crepe_action fold started
15:01:12.752 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:01:12.770 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
15:01:20.921 make_crepe_action push_off started
15:01:20.937 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-48 F3000 G1 Z-4.824999999999999 Y-50 F4000 G1 Z35.175 Y-112.0 F4000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
15:01:29.749 make_crepe_action wipe_spatula started
15:01:29.750 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