Video

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Frame Analysis

13:43:04 0:57 observation 13:44:01
1 13:43:18
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2 13:43:32
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3 13:43:46
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:43:04 0.006s
prepare 0.000002494080035830848% 14:43:04 0.009s
oiling 0.02678513340651989% 14:43:07 2.694s
spread_dough 0.10676544159650803% 14:43:15 10.704s
cook 0.26536813378334045% 14:43:31 26.539s

Machine Logs

14:43:04.499 make_crepe_action Executing make_crepe action
14:43:04.499 crepe_log_node Action status update: 1
14:43:04.501 make_crepe_action prepare started
14:43:04.503 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_14-43-04/session.json
14:43:04.505 duet1.duet_comm GCODE: G28 X Y
14:43:04.505 crepe_log_node Action status update: 2
14:43:04.514 duet1.duet_comm GCODE: G92 A0
14:43:04.522 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:43:07.179 make_crepe_action oiling started
14:43:07.180 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
14:43:07.183 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:43:09.176 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
14:43:09.223 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:43:10.031 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:43:13.613 make_crepe_action wait_until: timeout waiting for idle
14:43:13.618 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:43:13.621 duet1.duet_comm GCODE: G92 A0
14:43:15.177 make_crepe_action spread_dough started
14:43:15.183 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
14:43:15.187 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
14:43:15.190 duet2.duet_comm GCODE: M106 P3 S0.95
14:43:16.470 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:43:16.473 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
14:43:17.271 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:43:17.273 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
14:43:17.288 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
14:43:31.038 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
14:43:31.037 make_crepe_action cook started
14:43:31.039 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:43:31.052 duet2.duet_comm GCODE: M106 P3 S0
14:43:45.485 crepe_log_node Action status update: 3
14:44:01.040 make_crepe_action Cancel requested, stopping execution

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