Video

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Frame Analysis

15:04:35 0:57 observation 15:05:32
1 15:04:49
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2 15:05:03
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3 15:05:17
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:04:35 0.009s
prepare 0.0000025911299417202827% 16:04:35 0.183s
oiling 0.02667161449790001% 16:04:37 2.689s
spread_dough 0.10668963938951492% 16:04:45 10.695s
cook 0.2638453543186188% 16:05:01 26.416s

Machine Logs

16:04:35.223 make_crepe_action Executing make_crepe action
16:04:35.223 crepe_log_node Action status update: 1
16:04:35.225 make_crepe_action prepare started
16:04:35.230 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-25_16-04-35/session.json
16:04:35.230 duet1.duet_comm GCODE: G28 X Y
16:04:35.232 crepe_log_node Action status update: 2
16:04:35.240 duet1.duet_comm GCODE: G92 A0
16:04:35.249 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
16:04:37.891 make_crepe_action oiling started
16:04:37.895 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
16:04:37.898 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
16:04:39.895 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
16:04:39.941 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:04:40.744 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:04:44.327 make_crepe_action wait_until: timeout waiting for idle
16:04:44.329 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:04:44.330 duet1.duet_comm GCODE: G92 A0
16:04:45.893 make_crepe_action spread_dough started
16:04:45.894 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
16:04:45.898 duet2.duet_comm GCODE: M106 P3 S0.95
16:04:45.906 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
16:04:47.180 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
16:04:47.182 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
16:04:47.981 duet1.duet_comm RUN MACRO: dough_spread_air.g
16:04:47.983 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
16:04:47.995 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
16:04:53.081 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-25_16-02-26/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1506-2a00c21c.mp4?X-Amz-Expires=3600&X-Amz-Date=20260325T150450Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260325%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=b71723d34ddc1c5c788b0852700d9a5e1b3c88b4bbfddad9408f36067bf14be0
16:05:01.609 make_crepe_action cook started
16:05:01.610 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
16:05:01.615 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
16:05:01.619 duet2.duet_comm GCODE: M106 P3 S0
16:05:05.503 crepe_log_node Action status update: 3
16:05:31.611 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