Video

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Frame Analysis

14:50:33 1:55 observation 14:52:28
1 14:51:01
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2 14:51:30
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3 14:51:59
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:50:33 0.006s
prepare 0.000005998910182825057% 15:50:33 0.181s
oiling 0.020027119666337967% 15:50:35 2.028s
spread_dough 0.10011129081249237% 15:50:43 10.046s
cook 0.2586454153060913% 15:50:59 25.867s
add_topping 0.5587289333343506% 15:51:29 55.885s
fold 0.7743141651153564% 15:51:51 77.464s
push_off 0.9857940077781677% 15:52:12 98.582s
wipe_spatula 1% 15:52:20 106.889s

Machine Logs

15:50:33.741 make_crepe_action Executing make_crepe action
15:50:33.741 crepe_log_node Action status update: 1
15:50:33.744 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-24_15-50-33/session.json
15:50:33.745 make_crepe_action prepare started
15:50:33.746 crepe_log_node Action status update: 2
15:50:33.750 duet1.duet_comm GCODE: G28 X Y
15:50:33.757 duet1.duet_comm GCODE: G92 A0
15:50:33.765 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:50:35.747 make_crepe_action oiling started
15:50:35.748 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
15:50:35.749 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:50:37.751 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
15:50:37.801 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:50:38.601 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:50:42.183 make_crepe_action wait_until: timeout waiting for idle
15:50:42.188 duet1.duet_comm GCODE: G92 A0
15:50:42.192 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:50:43.755 make_crepe_action spread_dough started
15:50:43.758 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
15:50:43.761 duet2.duet_comm GCODE: M106 P3 S0.95
15:50:43.763 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:50:45.039 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
15:50:45.040 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:50:45.840 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:50:45.842 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
15:50:45.852 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
15:50:59.608 make_crepe_action cook started
15:50:59.611 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:50:59.614 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:50:59.627 duet2.duet_comm GCODE: M106 P3 S0
15:51:29.617 make_crepe_action add_topping started
15:51:29.617 make_crepe_action Topping: chocolate, Port: 1, Density: 0.02, Flowrate: 0.9, DM: 310.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.022222222222222223
15:51:29.623 duet1.duet_comm UPLOAD MACRO: maus_s.g G93 G1 A54 B192 F270.00 G1 A49 B193 F270.00 G1 A45 B200 F270.00 G1 A43 B209 F270.00 G1 A46 B216 F270.00 G1 A52 B212 F270.00 G1 A56 B205 F270.00 G1 A62 B202 F270.00 G1 A66 B208 F270.00 G1 A65 B219 F270.00 G1 A61 B227 F270.00 G1 A54 B229 F270.00 G94
15:51:29.669 duet1.duet_comm UPLOAD MACRO: maus_u2.g G93 G1 A32 B219 F270.00 G1 A36 B228 F270.00 G1 A40 B237 F270.00 G1 A47 B245 F270.00 G1 A48 B246 F270.00 G1 A44 B245 F270.00 G1 A42 B256 F270.00 G1 A34 B263 F270.00 G1 A23 B260 F270.00 G1 A17 B251 F270.00 G1 A15 B240 F270.00 G1 A13 B230 F270.00 G94
15:51:29.729 duet1.duet_comm UPLOAD MACRO: maus_a2.g G93 G1 A1 B270 F270.00 G1 A1 B259 F270.00 G1 A0 B249 F270.00 G1 A0 B238 F270.00 G1 A0 B236 F270.00 G1 A-3 B234 F270.00 G1 A-9 B230 F270.00 G1 A-16 B235 F270.00 G1 A-21 B244 F270.00 G1 A-23 B254 F270.00 G1 A-21 B264 F270.00 G1 A-9 B269 F270.00 G1 A1 B262 F270.00 G94
15:51:29.772 make_crepe_action Uploaded 4 path macros. Starting execution.: [{'name': 'maus_s.g', 'length': 117.414, 'start_coord': {'d': 191.845, 'rot': 54.266}, 'g_code': 'G93\nG1 A54 B192 F270.00\nG1 A49 B193 F270.00\nG1 A45 B200 F270.00\nG1 A43 B209 F270.00\nG1 A46 B216 F270.00\nG1 A52 B212 F270.00\nG1 A56 B205 F270.00\nG1 A62 B202 F270.00\nG1 A66 B208 F270.00\nG1 A65 B219 F270.00\nG1 A61 B227 F270.00\nG1 A54 B229 F270.00\nG94'}, {'name': 'maus_u2.g', 'length': 117.902, 'start_coord': {'d': 218.909, 'rot': 31.688}, 'g_code': 'G93\nG1 A32 B219 F270.00\nG1 A36 B228 F270.00\nG1 A40 B237 F270.00\nG1 A47 B245 F270.00\nG1 A48 B246 F270.00\nG1 A44 B245 F270.00\nG1 A42 B256 F270.00\nG1 A34 B263 F270.00\nG1 A23 B260 F270.00\nG1 A17 B251 F270.00\nG1 A15 B240 F270.00\nG1 A13 B230 F270.00\nG94'}, {'name': 'maus_a2.g', 'length': 128.226, 'start_coord': {'d': 269.989, 'rot': 0.695}, 'g_code': 'G93\nG1 A1 B270 F270.00\nG1 A1 B259 F270.00\nG1 A0 B249 F270.00\nG1 A0 B238 F270.00\nG1 A0 B236 F270.00\nG1 A-3 B234 F270.00\nG1 A-9 B230 F270.00\nG1 A-16 B235 F270.00\nG1 A-21 B244 F270.00\nG1 A-23 B254 F270.00\nG1 A-21 B264 F270.00\nG1 A-9 B269 F270.00\nG1 A1 B262 F270.00\nG94'}, {'name': 'maus_m1.g', 'length': 225.849, 'start_coord': {'d': 186.572, 'rot': -49.323}, 'g_code': 'G93\nG1 A-49 B187 F270.00\nG1 A-53 B193 F270.00\nG1 A-57 B199 F270.00\nG1 A-62 B204 F270.00\nG1 A-65 B206 F270.00\nG1 A-60 B201 F270.00\nG1 A-55 B196 F270.00\nG1 A-51 B194 F270.00\nG1 A-46 B196 F270.00\nG1 A-42 B203 F270.00\nG1 A-43 B212 F270.00\nG1 A-47 B220 F270.00\nG1 A-52 B226 F270.00\nG1 A-57 B231 F270.00\nG1 A-51 B225 F270.00\nG1 A-46 B218 F270.00\nG1 A-41 B214 F270.00\nG1 A-35 B214 F270.00\nG1 A-30 B219 F270.00\nG1 A-29 B228 F270.00\nG1 A-32 B237 F270.00\nG1 A-37 B245 F270.00\nG1 A-43 B253 F270.00\nG94'}]
15:51:29.785 duet1.duet_comm UPLOAD MACRO: maus_m1.g G93 G1 A-49 B187 F270.00 G1 A-53 B193 F270.00 G1 A-57 B199 F270.00 G1 A-62 B204 F270.00 G1 A-65 B206 F270.00 G1 A-60 B201 F270.00 G1 A-55 B196 F270.00 G1 A-51 B194 F270.00 G1 A-46 B196 F270.00 G1 A-42 B203 F270.00 G1 A-43 B212 F270.00 G1 A-47 B220 F270.00 G1 A-52 B226 F270.00 G1 A-57 B231 F270.00 G1 A-51 B225 F270.00 G1 A-46 B218 F270.00 G1 A-41 B214 F270.00 G1 A-35 B214 F270.00 G1 A-30 B219 F270.00 G1 A-29 B228 F270.00 G1 A-32 B237 F270.00 G1 A-37 B245 F270.00 G1 A-43 B253 F270.00 G94
15:51:29.826 duet1.duet_comm GCODE: G1 A54 B192 F6000
15:51:32.464 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
15:51:33.767 duet2.duet_comm GCODE: T1 G1 E2.882582110888444 F66.2865731462926
15:51:33.769 duet1.duet_comm RUN MACRO: maus_s.g
15:51:37.185 duet1.duet_comm GCODE: G1 A32 B219 F6000
15:51:37.894 duet2.duet_comm GCODE: T1 G1 E2.8945627952200703 F66.2865731462926
15:51:37.894 duet1.duet_comm RUN MACRO: maus_u2.g
15:51:40.746 duet1.duet_comm GCODE: G1 A1 B270 F6000
15:51:41.465 duet2.duet_comm GCODE: T1 G1 E3.148023010465376 F66.2865731462926
15:51:41.469 duet1.duet_comm RUN MACRO: maus_a2.g
15:51:44.602 duet1.duet_comm GCODE: G1 A-49 B187 F6000
15:51:45.901 duet1.duet_comm RUN MACRO: maus_m1.g
15:51:45.901 duet2.duet_comm GCODE: T1 G1 E5.5447245401914955 F66.2865731462926
15:51:51.177 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
15:51:51.181 duet1.duet_comm GCODE: G1 B10 F6000
15:51:51.183 make_crepe_action fold started
15:51:51.207 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:51:51.221 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
15:52:04.179 make_crepe_action fold started
15:52:04.180 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:52:04.193 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
15:52:12.323 make_crepe_action push_off started
15:52:12.325 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
15:52:20.617 make_crepe_action wipe_spatula started
15:52:20.634 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