Video

0:00 / 0:00

Frame Analysis

13:39:29 1:50 observation 13:41:19
1 13:39:56
Loading...
2 13:40:24
Loading...
3 13:40:51
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 14:39:29 0.007s
prepare 0.000002737969907684601% 14:39:29 0.012s
oiling 0.026520133018493652% 14:39:32 2.653s
spread_dough 0.10652933269739151% 14:39:40 10.666s
cook 0.26363569498062134% 14:39:56 26.382s
add_topping 0.5636510848999023% 14:40:26 56.365s
fold 0.7207305431365967% 14:40:41 72.073s
push_off 0.929373025894165% 14:41:02 92.940s
wipe_spatula 1% 14:41:11 101.807s

Machine Logs

14:39:29.671 make_crepe_action Executing make_crepe action
14:39:29.671 crepe_log_node Action status update: 1
14:39:29.672 make_crepe_action prepare started
14:39:29.674 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_14-39-29/session.json
14:39:29.676 crepe_log_node Action status update: 2
14:39:29.676 duet1.duet_comm GCODE: G28 X Y
14:39:29.685 duet1.duet_comm GCODE: G92 A0
14:39:29.694 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:39:32.324 make_crepe_action oiling started
14:39:32.328 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
14:39:32.333 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:39:34.328 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
14:39:34.375 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:39:35.177 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:39:38.752 make_crepe_action wait_until: timeout waiting for idle
14:39:38.755 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:39:38.760 duet1.duet_comm GCODE: G92 A0
14:39:40.325 make_crepe_action spread_dough started
14:39:40.326 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
14:39:40.330 duet2.duet_comm GCODE: M106 P3 S0.95
14:39:40.335 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
14:39:41.605 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
14:39:41.605 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:39:42.407 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:39:42.409 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
14:39:42.423 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
14:39:56.035 make_crepe_action cook started
14:39:56.037 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:39:56.045 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
14:39:56.051 duet2.duet_comm GCODE: M106 P3 S0
14:40:26.037 make_crepe_action add_topping started
14:40:26.038 make_crepe_action Topping: blueberry, Port: 3, Density: 0.012, Flowrate: 1.1, DM: 285.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.010909090909090908
14:40:26.041 duet1.duet_comm UPLOAD MACRO: maus_s.g G93 G1 A54 B167 F550.00 G1 A49 B168 F550.00 G1 A45 B175 F550.00 G1 A43 B184 F550.00 G1 A46 B191 F550.00 G1 A52 B187 F550.00 G1 A56 B180 F550.00 G1 A62 B177 F550.00 G1 A66 B183 F550.00 G1 A65 B194 F550.00 G1 A61 B202 F550.00 G1 A54 B204 F550.00 G94
14:40:26.080 duet1.duet_comm UPLOAD MACRO: maus_u2.g G93 G1 A32 B194 F550.00 G1 A36 B203 F550.00 G1 A40 B212 F550.00 G1 A47 B220 F550.00 G1 A48 B221 F550.00 G1 A44 B220 F550.00 G1 A42 B231 F550.00 G1 A34 B238 F550.00 G1 A23 B235 F550.00 G1 A17 B226 F550.00 G1 A15 B215 F550.00 G1 A13 B205 F550.00 G94
14:40:26.122 duet1.duet_comm UPLOAD MACRO: maus_a2.g G93 G1 A1 B245 F550.00 G1 A1 B234 F550.00 G1 A0 B224 F550.00 G1 A0 B213 F550.00 G1 A0 B211 F550.00 G1 A-3 B209 F550.00 G1 A-9 B205 F550.00 G1 A-16 B210 F550.00 G1 A-21 B219 F550.00 G1 A-23 B229 F550.00 G1 A-21 B239 F550.00 G1 A-9 B244 F550.00 G1 A1 B237 F550.00 G94
14:40:26.169 make_crepe_action Uploaded 4 path macros. Starting execution.: [{'name': 'maus_s.g', 'length': 117.414, 'start_coord': {'d': 166.845, 'rot': 54.266}, 'g_code': 'G93\nG1 A54 B167 F550.00\nG1 A49 B168 F550.00\nG1 A45 B175 F550.00\nG1 A43 B184 F550.00\nG1 A46 B191 F550.00\nG1 A52 B187 F550.00\nG1 A56 B180 F550.00\nG1 A62 B177 F550.00\nG1 A66 B183 F550.00\nG1 A65 B194 F550.00\nG1 A61 B202 F550.00\nG1 A54 B204 F550.00\nG94'}, {'name': 'maus_u2.g', 'length': 117.902, 'start_coord': {'d': 193.909, 'rot': 31.688}, 'g_code': 'G93\nG1 A32 B194 F550.00\nG1 A36 B203 F550.00\nG1 A40 B212 F550.00\nG1 A47 B220 F550.00\nG1 A48 B221 F550.00\nG1 A44 B220 F550.00\nG1 A42 B231 F550.00\nG1 A34 B238 F550.00\nG1 A23 B235 F550.00\nG1 A17 B226 F550.00\nG1 A15 B215 F550.00\nG1 A13 B205 F550.00\nG94'}, {'name': 'maus_a2.g', 'length': 128.226, 'start_coord': {'d': 244.989, 'rot': 0.695}, 'g_code': 'G93\nG1 A1 B245 F550.00\nG1 A1 B234 F550.00\nG1 A0 B224 F550.00\nG1 A0 B213 F550.00\nG1 A0 B211 F550.00\nG1 A-3 B209 F550.00\nG1 A-9 B205 F550.00\nG1 A-16 B210 F550.00\nG1 A-21 B219 F550.00\nG1 A-23 B229 F550.00\nG1 A-21 B239 F550.00\nG1 A-9 B244 F550.00\nG1 A1 B237 F550.00\nG94'}, {'name': 'maus_m1.g', 'length': 225.849, 'start_coord': {'d': 161.572, 'rot': -49.323}, 'g_code': 'G93\nG1 A-49 B162 F550.00\nG1 A-53 B168 F550.00\nG1 A-57 B174 F550.00\nG1 A-62 B179 F550.00\nG1 A-65 B181 F550.00\nG1 A-60 B176 F550.00\nG1 A-55 B171 F550.00\nG1 A-51 B169 F550.00\nG1 A-46 B171 F550.00\nG1 A-42 B178 F550.00\nG1 A-43 B187 F550.00\nG1 A-47 B195 F550.00\nG1 A-52 B201 F550.00\nG1 A-57 B206 F550.00\nG1 A-51 B200 F550.00\nG1 A-46 B193 F550.00\nG1 A-41 B189 F550.00\nG1 A-35 B189 F550.00\nG1 A-30 B194 F550.00\nG1 A-29 B203 F550.00\nG1 A-32 B212 F550.00\nG1 A-37 B220 F550.00\nG1 A-43 B228 F550.00\nG94'}]
14:40:26.180 duet1.duet_comm UPLOAD MACRO: maus_m1.g G93 G1 A-49 B162 F550.00 G1 A-53 B168 F550.00 G1 A-57 B174 F550.00 G1 A-62 B179 F550.00 G1 A-65 B181 F550.00 G1 A-60 B176 F550.00 G1 A-55 B171 F550.00 G1 A-51 B169 F550.00 G1 A-46 B171 F550.00 G1 A-42 B178 F550.00 G1 A-43 B187 F550.00 G1 A-47 B195 F550.00 G1 A-52 B201 F550.00 G1 A-57 B206 F550.00 G1 A-51 B200 F550.00 G1 A-46 B193 F550.00 G1 A-41 B189 F550.00 G1 A-35 B189 F550.00 G1 A-30 B194 F550.00 G1 A-29 B203 F550.00 G1 A-32 B212 F550.00 G1 A-37 B220 F550.00 G1 A-43 B228 F550.00 G94
14:40:26.220 duet1.duet_comm GCODE: G1 A54 B167 F6000
14:40:28.181 duet2.duet_comm GCODE: T3 G1 E1.4003740814963264 F105.02805611222446
14:40:29.482 duet2.duet_comm GCODE: T3 G1 E1.8439281523046094 F86.374749498998
14:40:29.483 duet1.duet_comm RUN MACRO: maus_s.g
14:40:31.326 duet1.duet_comm GCODE: G1 A32 B194 F6000
14:40:32.604 duet2.duet_comm GCODE: T3 G1 E1.8515919482601566 F86.374749498998
14:40:32.604 duet1.duet_comm RUN MACRO: maus_u2.g
14:40:34.460 duet1.duet_comm GCODE: G1 A1 B245 F6000
14:40:35.178 duet2.duet_comm GCODE: T3 G1 E2.01372520531973 F86.374749498998
14:40:35.183 duet1.duet_comm RUN MACRO: maus_a2.g
14:40:37.319 duet1.duet_comm GCODE: G1 A-49 B162 F6000
14:40:38.611 duet2.duet_comm GCODE: T3 G1 E3.5468455999271264 F86.374749498998
14:40:38.613 duet1.duet_comm RUN MACRO: maus_m1.g
14:40:41.746 duet2.duet_comm GCODE: T3 G1 E-0.58249832999332 F43.687374749499
14:40:41.745 make_crepe_action fold started
14:40:41.751 duet1.duet_comm GCODE: G1 B10 F6000
14:40:41.763 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
14:40:41.775 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
14:40:54.464 make_crepe_action fold started
14:40:54.467 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
14:40:54.476 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
14:41:02.610 make_crepe_action push_off started
14:41:02.615 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
14:41:11.467 make_crepe_action wipe_spatula started
14:41:11.474 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