Video

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Frame Analysis

12:23:04 1:55 observation 12:24:59
1 12:23:32
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2 12:24:01
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3 12:24:30
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Phases

Phase Detail Progress Time Elapsed
init 0% 13:23:04 0.007s
prepare 0.000002508530087652616% 13:23:04 0.011s
oiling 0.02601061947643757% 13:23:07 2.610s
spread_dough 0.10604841262102127% 13:23:15 10.631s
cook 0.26323825120925903% 13:23:30 26.343s
add_topping 0.5633100867271423% 13:24:00 56.332s
fold 0.7789084911346436% 13:24:22 77.893s
push_off 0.9888765811920166% 13:24:43 98.918s
wipe_spatula 1% 13:24:51 107.178s

Machine Logs

13:23:04.432 make_crepe_action Executing make_crepe action
13:23:04.432 crepe_log_node Action status update: 1
13:23:04.433 make_crepe_action prepare started
13:23:04.435 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_13-23-04/session.json
13:23:04.438 duet1.duet_comm GCODE: G28 X Y
13:23:04.438 crepe_log_node Action status update: 2
13:23:04.461 duet1.duet_comm GCODE: G92 A0
13:23:04.470 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
13:23:07.035 make_crepe_action oiling started
13:23:07.038 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
13:23:07.046 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
13:23:09.039 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
13:23:09.092 duet1.duet_comm RUN MACRO: oiling_optimized.g
13:23:09.894 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
13:23:13.467 make_crepe_action wait_until: timeout waiting for idle
13:23:13.471 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
13:23:13.478 duet1.duet_comm GCODE: G92 A0
13:23:15.041 make_crepe_action spread_dough started
13:23:15.042 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
13:23:15.046 duet2.duet_comm GCODE: M106 P3 S0.95
13:23:15.048 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
13:23:16.322 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
13:23:16.324 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
13:23:17.126 duet1.duet_comm RUN MACRO: dough_spread_air.g
13:23:17.127 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
13:23:17.146 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
13:23:23.158 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-25_13-21-04/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1451-186f592e.mp4?X-Amz-Expires=3600&X-Amz-Date=20260325T122321Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260325%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=a191f9f9915b68cccce1c1bb0206be74e21aa7cd6f43f633d90622c4960ce558
13:23:30.754 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
13:23:30.760 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
13:23:30.762 make_crepe_action cook started
13:23:30.776 duet2.duet_comm GCODE: M106 P3 S0
13:24:00.764 make_crepe_action add_topping started
13:24:00.766 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
13:24:00.771 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
13:24:00.810 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
13:24:00.851 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
13:24:00.852 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'}]
13:24:00.935 duet1.duet_comm GCODE: G1 A54 B179 F6000
13:24:00.947 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
13:24:03.036 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
13:24:04.341 duet2.duet_comm GCODE: T2 G1 E5.066974291660244 F112.20240480961925
13:24:04.343 duet1.duet_comm RUN MACRO: maus_s.g
13:24:07.317 duet1.duet_comm GCODE: G1 A32 B206 F6000
13:24:08.609 duet1.duet_comm RUN MACRO: maus_u2.g
13:24:08.610 duet2.duet_comm GCODE: T2 G1 E5.088033819947588 F112.20240480961925
13:24:11.608 duet1.duet_comm GCODE: G1 A1 B257 F6000
13:24:12.323 duet2.duet_comm GCODE: T2 G1 E5.533563676583937 F112.20240480961925
13:24:12.326 duet1.duet_comm RUN MACRO: maus_a2.g
13:24:15.610 duet1.duet_comm GCODE: G1 A-49 B174 F6000
13:24:16.890 duet2.duet_comm GCODE: T2 G1 E9.746461893787576 F112.20240480961925
13:24:16.890 duet1.duet_comm RUN MACRO: maus_m1.g
13:24:22.325 make_crepe_action fold started
13:24:22.328 duet1.duet_comm GCODE: G1 B10 F6000
13:24:22.328 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
13:24:22.341 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
13:24:22.354 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
13:24:35.178 make_crepe_action fold started
13:24:35.178 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
13:24:35.190 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
13:24:43.321 make_crepe_action push_off started
13:24:43.336 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
13:24:51.610 make_crepe_action wipe_spatula started
13:24:51.616 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