Video

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Frame Analysis

10:29:04 1:56 observation 10:31:00
1 10:29:33
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2 10:30:02
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3 10:30:31
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Phases

Phase Detail Progress Time Elapsed
init 0% 11:29:04 0.009s
prepare 0.000002444279971314245% 11:29:04 0.011s
oiling 0.02613695338368416% 11:29:07 2.625s
spread_dough 0.100395567715168% 11:29:14 10.040s
cook 0.25754716992378235% 11:29:30 25.757s
add_topping 0.557614803314209% 11:30:00 55.772s
fold 0.7746623158454895% 11:30:22 77.468s
push_off 0.9846369624137878% 11:30:43 98.470s
wipe_spatula 1% 11:30:52 107.331s

Machine Logs

11:29:04.857 make_crepe_action Executing make_crepe action
11:29:04.857 crepe_log_node Action status update: 1
11:29:04.859 make_crepe_action prepare started
11:29:04.862 duet1.duet_comm GCODE: G28 X Y
11:29:04.864 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_11-29-04/session.json
11:29:04.866 crepe_log_node Action status update: 2
11:29:04.871 duet1.duet_comm GCODE: G92 A0
11:29:04.892 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
11:29:07.472 make_crepe_action oiling started
11:29:07.476 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
11:29:07.483 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
11:29:08.893 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
11:29:08.938 duet1.duet_comm RUN MACRO: oiling_optimized.g
11:29:09.739 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
11:29:13.304 make_crepe_action wait_until: timeout waiting for idle
11:29:13.313 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
11:29:13.333 duet1.duet_comm GCODE: G92 A0
11:29:14.898 make_crepe_action spread_dough started
11:29:14.899 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
11:29:14.900 duet2.duet_comm GCODE: M106 P3 S0.95
11:29:14.903 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
11:29:16.181 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
11:29:16.185 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
11:29:16.983 duet1.duet_comm RUN MACRO: dough_spread_air.g
11:29:16.983 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
11:29:16.994 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
11:29:30.613 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
11:29:30.613 make_crepe_action cook started
11:29:30.614 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
11:29:30.626 duet2.duet_comm GCODE: M106 P3 S0
11:30:00.620 make_crepe_action add_topping started
11:30:00.620 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
11:30:00.628 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
11:30:00.666 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
11:30:00.728 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
11:30:00.732 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'}]
11:30:00.784 duet1.duet_comm GCODE: G1 A54 B179 F6000
11:30:00.792 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
11:30:02.892 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
11:30:04.193 duet2.duet_comm GCODE: T2 G1 E5.066974291660244 F112.20240480961925
11:30:04.196 duet1.duet_comm RUN MACRO: maus_s.g
11:30:07.178 duet1.duet_comm GCODE: G1 A32 B206 F6000
11:30:08.465 duet2.duet_comm GCODE: T2 G1 E5.088033819947588 F112.20240480961925
11:30:08.469 duet1.duet_comm RUN MACRO: maus_u2.g
11:30:11.461 duet1.duet_comm GCODE: G1 A1 B257 F6000
11:30:12.180 duet2.duet_comm GCODE: T2 G1 E5.533563676583937 F112.20240480961925
11:30:12.185 duet1.duet_comm RUN MACRO: maus_a2.g
11:30:15.460 duet1.duet_comm GCODE: G1 A-49 B174 F6000
11:30:16.756 duet1.duet_comm RUN MACRO: maus_m1.g
11:30:16.756 duet2.duet_comm GCODE: T2 G1 E9.746461893787576 F112.20240480961925
11:30:22.324 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
11:30:22.326 duet1.duet_comm GCODE: G1 B10 F6000
11:30:22.326 make_crepe_action fold started
11:30:22.339 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
11:30:22.350 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
11:30:35.177 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
11:30:35.179 make_crepe_action fold started
11:30:35.186 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
11:30:43.326 make_crepe_action push_off started
11:30:43.333 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 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
11:30:52.184 make_crepe_action wipe_spatula started
11:30:52.185 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