Video

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Frame Analysis

14:07:56 1:51 observation 14:09:47
1 14:08:23
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2 14:08:51
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3 14:09:19
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:07:56 0.009s
prepare 0.0000036544599879562156% 15:07:56 0.011s
oiling 0.022852448746562004% 15:07:58 2.316s
spread_dough 0.1028621718287468% 15:08:06 10.287s
cook 0.26152291893959045% 15:08:22 26.154s
add_topping 0.5615682601928711% 15:08:52 56.165s
fold 0.7615947127342224% 15:09:12 76.190s
push_off 0.9414374828338623% 15:09:30 94.154s
wipe_spatula 1% 15:09:39 103.015s

Machine Logs

15:07:56.319 make_crepe_action Executing make_crepe action
15:07:56.319 crepe_log_node Action status update: 1
15:07:56.320 make_crepe_action prepare started
15:07:56.324 duet1.duet_comm GCODE: G28 X Y
15:07:56.325 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-24_15-07-56/session.json
15:07:56.327 crepe_log_node Action status update: 2
15:07:56.335 duet1.duet_comm GCODE: G92 A0
15:07:56.344 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:07:58.605 make_crepe_action oiling started
15:07:58.606 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
15:07:58.614 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:08:00.606 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
15:08:00.650 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:08:01.456 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:08:05.017 make_crepe_action wait_until: timeout waiting for idle
15:08:05.025 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:08:05.043 duet1.duet_comm GCODE: G92 A0
15:08:06.608 make_crepe_action spread_dough started
15:08:06.611 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
15:08:06.613 duet2.duet_comm GCODE: M106 P3 S0.95
15:08:06.613 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:08:07.901 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
15:08:07.902 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:08:08.702 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:08:08.704 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
15:08:08.717 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
15:08:22.472 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:08:22.472 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:08:22.472 make_crepe_action cook started
15:08:22.484 duet2.duet_comm GCODE: M106 P3 S0
15:08:52.477 make_crepe_action add_topping started
15:08:52.477 make_crepe_action No topping selected for shape, skipping
15:09:12.479 make_crepe_action fold started
15:09:12.483 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:09:12.498 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
15:09:22.323 make_crepe_action fold started
15:09:22.323 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:09:22.333 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
15:09:30.464 make_crepe_action push_off started
15:09:30.472 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
15:09:39.326 make_crepe_action wipe_spatula started
15:09:39.335 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