Video

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Frame Analysis

10:25:23 1:56 observation 10:27:19
1 10:25:52
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2 10:26:21
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3 10:26:50
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Phases

Phase Detail Progress Time Elapsed
init 0% 11:25:23 0.007s
prepare 0.000005292059995554155% 11:25:23 0.012s
oiling 0.02619958110153675% 11:25:26 2.634s
spread_dough 0.10616188496351242% 11:25:34 10.644s
cook 0.2633545994758606% 11:25:49 26.357s
add_topping 0.5634368062019348% 11:26:19 56.344s
fold 0.780336856842041% 11:26:41 78.057s
push_off 0.9947073459625244% 11:27:02 99.476s
wipe_spatula 1% 11:27:11 108.340s

Machine Logs

11:25:23.421 crepe_log_node Action status update: 1
11:25:23.421 make_crepe_action Executing make_crepe action
11:25:23.424 make_crepe_action prepare started
11:25:23.425 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_11-25-23/session.json
11:25:23.426 duet1.duet_comm GCODE: G28 X Y
11:25:23.428 crepe_log_node Action status update: 2
11:25:23.436 duet1.duet_comm GCODE: G92 A0
11:25:23.461 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
11:25:26.043 make_crepe_action oiling started
11:25:26.043 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
11:25:26.047 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
11:25:28.035 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
11:25:28.087 duet1.duet_comm RUN MACRO: oiling_optimized.g
11:25:28.892 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
11:25:32.467 make_crepe_action wait_until: timeout waiting for idle
11:25:32.476 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
11:25:32.480 duet1.duet_comm GCODE: G92 A0
11:25:34.039 make_crepe_action spread_dough started
11:25:34.041 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
11:25:34.045 duet2.duet_comm GCODE: M106 P3 S0.95
11:25:34.047 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
11:25:35.320 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
11:25:35.321 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
11:25:36.121 duet1.duet_comm RUN MACRO: dough_spread_air.g
11:25:36.121 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
11:25:36.136 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
11:25:49.758 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
11:25:49.761 make_crepe_action cook started
11:25:49.767 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
11:25:49.783 duet2.duet_comm GCODE: M106 P3 S0
11:26:19.768 make_crepe_action add_topping started
11:26:19.770 make_crepe_action Topping: apple, Port: 2, Density: 0.03, Flowrate: 1.3, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.023076923076923075
11:26:19.773 duet1.duet_comm UPLOAD MACRO: maus_s.g G93 G1 A54 B179 F260.00 G1 A49 B180 F260.00 G1 A45 B187 F260.00 G1 A43 B196 F260.00 G1 A46 B203 F260.00 G1 A52 B200 F260.00 G1 A56 B193 F260.00 G1 A62 B190 F260.00 G1 A66 B196 F260.00 G1 A65 B206 F260.00 G1 A61 B215 F260.00 G1 A54 B217 F260.00 G94
11:26:19.813 duet1.duet_comm UPLOAD MACRO: maus_u2.g G93 G1 A32 B206 F260.00 G1 A36 B215 F260.00 G1 A40 B224 F260.00 G1 A47 B232 F260.00 G1 A48 B233 F260.00 G1 A44 B233 F260.00 G1 A42 B243 F260.00 G1 A34 B250 F260.00 G1 A23 B248 F260.00 G1 A17 B238 F260.00 G1 A15 B228 F260.00 G1 A13 B217 F260.00 G94
11:26:19.854 duet1.duet_comm UPLOAD MACRO: maus_a2.g G93 G1 A1 B257 F260.00 G1 A1 B247 F260.00 G1 A0 B236 F260.00 G1 A0 B225 F260.00 G1 A0 B223 F260.00 G1 A-3 B222 F260.00 G1 A-9 B217 F260.00 G1 A-16 B222 F260.00 G1 A-21 B231 F260.00 G1 A-23 B241 F260.00 G1 A-21 B252 F260.00 G1 A-9 B256 F260.00 G1 A1 B249 F260.00 G94
11:26:19.899 make_crepe_action Uploaded 4 path macros. Starting execution.: [{'name': 'maus_s.g', 'length': 117.414, 'start_coord': {'d': 179.345, 'rot': 54.266}, 'g_code': 'G93\nG1 A54 B179 F260.00\nG1 A49 B180 F260.00\nG1 A45 B187 F260.00\nG1 A43 B196 F260.00\nG1 A46 B203 F260.00\nG1 A52 B200 F260.00\nG1 A56 B193 F260.00\nG1 A62 B190 F260.00\nG1 A66 B196 F260.00\nG1 A65 B206 F260.00\nG1 A61 B215 F260.00\nG1 A54 B217 F260.00\nG94'}, {'name': 'maus_u2.g', 'length': 117.902, 'start_coord': {'d': 206.409, 'rot': 31.688}, 'g_code': 'G93\nG1 A32 B206 F260.00\nG1 A36 B215 F260.00\nG1 A40 B224 F260.00\nG1 A47 B232 F260.00\nG1 A48 B233 F260.00\nG1 A44 B233 F260.00\nG1 A42 B243 F260.00\nG1 A34 B250 F260.00\nG1 A23 B248 F260.00\nG1 A17 B238 F260.00\nG1 A15 B228 F260.00\nG1 A13 B217 F260.00\nG94'}, {'name': 'maus_a2.g', 'length': 128.226, 'start_coord': {'d': 257.489, 'rot': 0.695}, 'g_code': 'G93\nG1 A1 B257 F260.00\nG1 A1 B247 F260.00\nG1 A0 B236 F260.00\nG1 A0 B225 F260.00\nG1 A0 B223 F260.00\nG1 A-3 B222 F260.00\nG1 A-9 B217 F260.00\nG1 A-16 B222 F260.00\nG1 A-21 B231 F260.00\nG1 A-23 B241 F260.00\nG1 A-21 B252 F260.00\nG1 A-9 B256 F260.00\nG1 A1 B249 F260.00\nG94'}, {'name': 'maus_m1.g', 'length': 225.849, 'start_coord': {'d': 174.072, 'rot': -49.323}, 'g_code': 'G93\nG1 A-49 B174 F260.00\nG1 A-53 B180 F260.00\nG1 A-57 B186 F260.00\nG1 A-62 B191 F260.00\nG1 A-65 B193 F260.00\nG1 A-60 B189 F260.00\nG1 A-55 B183 F260.00\nG1 A-51 B181 F260.00\nG1 A-46 B183 F260.00\nG1 A-42 B191 F260.00\nG1 A-43 B200 F260.00\nG1 A-47 B207 F260.00\nG1 A-52 B214 F260.00\nG1 A-57 B218 F260.00\nG1 A-51 B212 F260.00\nG1 A-46 B206 F260.00\nG1 A-41 B201 F260.00\nG1 A-35 B201 F260.00\nG1 A-30 B206 F260.00\nG1 A-29 B215 F260.00\nG1 A-32 B225 F260.00\nG1 A-37 B233 F260.00\nG1 A-43 B241 F260.00\nG94'}]
11:26:19.909 duet1.duet_comm UPLOAD MACRO: maus_m1.g G93 G1 A-49 B174 F260.00 G1 A-53 B180 F260.00 G1 A-57 B186 F260.00 G1 A-62 B191 F260.00 G1 A-65 B193 F260.00 G1 A-60 B189 F260.00 G1 A-55 B183 F260.00 G1 A-51 B181 F260.00 G1 A-46 B183 F260.00 G1 A-42 B191 F260.00 G1 A-43 B200 F260.00 G1 A-47 B207 F260.00 G1 A-52 B214 F260.00 G1 A-57 B218 F260.00 G1 A-51 B212 F260.00 G1 A-46 B206 F260.00 G1 A-41 B201 F260.00 G1 A-35 B201 F260.00 G1 A-30 B206 F260.00 G1 A-29 B215 F260.00 G1 A-32 B225 F260.00 G1 A-37 B233 F260.00 G1 A-43 B241 F260.00 G94
11:26:19.947 duet1.duet_comm GCODE: G1 A54 B179 F6000
11:26:22.033 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
11:26:23.334 duet1.duet_comm RUN MACRO: maus_s.g
11:26:23.336 duet2.duet_comm GCODE: T2 G1 E5.066974291660244 F112.20240480961925
11:26:26.321 duet1.duet_comm GCODE: G1 A32 B206 F6000
11:26:27.609 duet2.duet_comm GCODE: T2 G1 E5.088033819947588 F112.20240480961925
11:26:27.612 duet1.duet_comm RUN MACRO: maus_u2.g
11:26:30.615 duet1.duet_comm GCODE: G1 A1 B257 F6000
11:26:31.323 duet2.duet_comm GCODE: T2 G1 E5.533563676583937 F112.20240480961925
11:26:31.325 duet1.duet_comm RUN MACRO: maus_a2.g
11:26:34.608 duet1.duet_comm GCODE: G1 A-49 B174 F6000
11:26:35.888 duet1.duet_comm RUN MACRO: maus_m1.g
11:26:35.888 duet2.duet_comm GCODE: T2 G1 E9.746461893787576 F112.20240480961925
11:26:41.457 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
11:26:41.460 make_crepe_action fold started
11:26:41.462 duet1.duet_comm GCODE: G1 B10 F6000
11:26:41.480 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
11:26:41.492 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
11:26:54.749 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
11:26:54.749 make_crepe_action fold started
11:26:54.760 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
11:27:02.894 make_crepe_action push_off started
11:27:02.898 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
11:27:11.757 make_crepe_action wipe_spatula started
11:27:11.764 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