Video

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Frame Analysis

10:09:13 1:56 observation 10:11:09
1 10:09:42
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2 10:10:11
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3 10:10:40
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Phases

Phase Detail Progress Time Elapsed
init 0% 11:09:13 0.008s
prepare 0.000002595189926068997% 11:09:13 0.175s
oiling 0.026634519919753075% 11:09:16 2.688s
spread_dough 0.10665090382099152% 11:09:24 10.702s
cook 0.26525065302848816% 11:09:40 26.532s
add_topping 0.565297544002533% 11:10:10 56.537s
fold 0.7808703780174255% 11:10:31 78.117s
push_off 0.9924545288085938% 11:10:52 99.246s
wipe_spatula 1% 11:11:01 108.105s

Machine Logs

11:09:13.510 make_crepe_action Executing make_crepe action
11:09:13.510 crepe_log_node Action status update: 1
11:09:13.512 make_crepe_action prepare started
11:09:13.514 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_11-09-13/session.json
11:09:13.518 crepe_log_node Action status update: 2
11:09:13.518 duet1.duet_comm GCODE: G28 X Y
11:09:13.528 duet1.duet_comm GCODE: G92 A0
11:09:13.536 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
11:09:16.175 make_crepe_action oiling started
11:09:16.176 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
11:09:16.179 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
11:09:18.177 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
11:09:18.223 duet1.duet_comm RUN MACRO: oiling_optimized.g
11:09:19.024 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
11:09:22.614 make_crepe_action wait_until: timeout waiting for idle
11:09:22.619 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
11:09:22.620 duet1.duet_comm GCODE: G92 A0
11:09:24.177 make_crepe_action spread_dough started
11:09:24.179 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
11:09:24.183 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
11:09:24.184 duet2.duet_comm GCODE: M106 P3 S0.95
11:09:25.471 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
11:09:25.472 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
11:09:26.274 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
11:09:26.275 duet1.duet_comm RUN MACRO: dough_spread_air.g
11:09:26.291 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
11:09:40.036 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
11:09:40.036 make_crepe_action cook started
11:09:40.040 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
11:09:40.053 duet2.duet_comm GCODE: M106 P3 S0
11:10:10.041 make_crepe_action add_topping started
11:10:10.042 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
11:10:10.046 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
11:10:10.083 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
11:10:10.124 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
11:10:10.165 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'}]
11:10:10.180 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
11:10:10.217 duet1.duet_comm GCODE: G1 A54 B192 F6000
11:10:12.897 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
11:10:14.196 duet2.duet_comm GCODE: T1 G1 E2.882582110888444 F66.2865731462926
11:10:14.203 duet1.duet_comm RUN MACRO: maus_s.g
11:10:17.613 duet1.duet_comm GCODE: G1 A32 B219 F6000
11:10:18.325 duet2.duet_comm GCODE: T1 G1 E2.8945627952200703 F66.2865731462926
11:10:18.328 duet1.duet_comm RUN MACRO: maus_u2.g
11:10:21.176 duet1.duet_comm GCODE: G1 A1 B270 F6000
11:10:21.890 duet1.duet_comm RUN MACRO: maus_a2.g
11:10:21.891 duet2.duet_comm GCODE: T1 G1 E3.148023010465376 F66.2865731462926
11:10:25.033 duet1.duet_comm GCODE: G1 A-49 B187 F6000
11:10:26.327 duet2.duet_comm GCODE: T1 G1 E5.5447245401914955 F66.2865731462926
11:10:26.327 duet1.duet_comm RUN MACRO: maus_m1.g
11:10:31.600 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
11:10:31.598 make_crepe_action fold started
11:10:31.609 duet1.duet_comm GCODE: G1 B10 F6000
11:10:31.626 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
11:10:31.640 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
11:10:44.608 make_crepe_action fold started
11:10:44.609 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
11:10:44.626 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
11:10:52.757 make_crepe_action push_off started
11:10:52.761 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
11:11:01.612 make_crepe_action wipe_spatula started
11:11:01.617 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