Video

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Frame Analysis

09:28:54 1:50 observation 09:30:44
1 09:29:21
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2 09:29:49
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3 09:30:16
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Phases

Phase Detail Progress Time Elapsed
init 0% 10:28:54 0.011s
prepare 0.0000026377899757790146% 10:28:54 0.013s
oiling 0.028176702558994293% 10:28:57 2.846s
spread_dough 0.10823579877614975% 10:29:05 10.854s
cook 0.2654624283313751% 10:29:20 26.580s
add_topping 0.5655489563941956% 10:29:50 56.558s
fold 0.7656140327453613% 10:30:10 76.568s
push_off 0.9339742660522461% 10:30:27 93.401s
wipe_spatula 1% 10:30:36 102.261s

Machine Logs

10:28:54.356 crepe_log_node Action status update: 1
10:28:54.356 make_crepe_action Executing make_crepe action
10:28:54.359 make_crepe_action prepare started
10:28:54.361 duet1.duet_comm GCODE: G28 X Y
10:28:54.364 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_10-28-54/session.json
10:28:54.366 crepe_log_node Action status update: 2
10:28:54.371 duet1.duet_comm GCODE: G92 A0
10:28:54.382 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
10:28:57.175 make_crepe_action oiling started
10:28:57.176 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
10:28:57.180 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
10:28:59.178 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
10:28:59.224 duet1.duet_comm RUN MACRO: oiling_optimized.g
10:29:00.025 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
10:29:03.610 make_crepe_action wait_until: timeout waiting for idle
10:29:03.614 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
10:29:03.615 duet1.duet_comm GCODE: G92 A0
10:29:05.182 make_crepe_action spread_dough started
10:29:05.183 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
10:29:05.185 duet2.duet_comm GCODE: M106 P3 S0.95
10:29:05.199 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
10:29:06.468 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
10:29:06.469 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
10:29:07.268 duet1.duet_comm RUN MACRO: dough_spread_air.g
10:29:07.269 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
10:29:07.278 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
10:29:20.904 make_crepe_action cook started
10:29:20.906 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
10:29:20.906 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
10:29:20.919 duet2.duet_comm GCODE: M106 P3 S0
10:29:50.912 make_crepe_action add_topping started
10:29:50.913 make_crepe_action No topping selected for shape, skipping
10:30:10.919 make_crepe_action fold started
10:30:10.923 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
10:30:10.935 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
10:30:19.038 make_crepe_action fold started
10:30:19.038 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
10:30:19.052 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
10:30:27.755 make_crepe_action push_off started
10:30:27.757 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
10:30:36.617 make_crepe_action wipe_spatula started
10:30:36.625 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