Maus Robotics Dashboard

Overview

Machine maus-nilo

Topping apple

Hotplate 201°C

Diameter - mm

Timing

Started 17:44:11 11/29/2025

→

Ended 17:46:13 11/29/2025

122s

Status

Environment

29.1°C Temperature

28.4% Humidity

Video

0:00 / 0:00 fps

Frame Analysis

17:44:11 2:02 observation 17:46:13

1 17:44:41

2 17:45:12

3 17:45:42

Phases

Phase Detail Progress Time Elapsed

init 0% 18:44:11 0.005s

prepare 0% 18:44:11 0.010s

spread_dough_optimized 0% 18:44:14 3.208s

add_topping_shape 0% 18:45:10 58.810s

fold 0% 18:45:37 85.922s

push_off 0% 18:46:00 109.323s

wipe_spatula 0% 18:46:08 116.929s

Machine Logs

18:44:11.420 make_crepe_action Executing make_crepe action

18:44:11.420 crepe_log_node Action status update: 1

18:44:11.421 make_crepe_action prepare started

18:44:11.422 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-11-29_18-44-11/session.json

18:44:11.424 crepe_log_node Action status update: 2

18:44:11.430 duet1.duet_comm GCODE: G28 X Y

18:44:11.440 duet1.duet_comm GCODE: G92 A0

18:44:11.449 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

18:44:14.629 make_crepe_action spread_dough_optimized started

18:44:14.630 make_crepe_action Full Duration: 14.5s; Speed: 163.2 mm/s; r_critical: 28.0mm; r_stop: 28.0mm ;duration_stop: 13.9s

18:44:14.632 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000

18:44:17.434 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.50 F211.03 G1 A28.2 B153.1 Z-14.48 F211.03 G1 A47.6 B154.5 Z-14.46 F211.03 G1 A67.1 B156.0 Z-14.44 F211.03 G1 A86.9 B157.4 Z-14.42 F211.03 G1 A106.9 B158.9 Z-14.40 F211.03 G1 A127.1 B160.3 Z-14.38 F211.03 G1 A147.5 B161.8 Z-14.36 F211.03 G1 A168.2 B163.3 Z-14.34 F211.03 G1 A189.1 B164.9 Z-14.32 F211.03 G1 A210.3 B166.4 Z-14.29 F211.03 G1 A231.7 B168.0 Z-14.27 F211.03 G1 A253.4 B169.5 Z-14.25 F211.03 G1 A275.4 B171.2 Z-14.23 F211.03 G1 A297.7 B172.8 Z-14.20 F211.03 G1 A320.3 B174.4 Z-14.18 F211.03 G1 A343.2 B176.1 Z-14.16 F211.03 G1 A366.4 B177.8 Z-14.13 F211.03 G1 A390.0 B179.5 Z-14.11 F211.03 G1 A414.0 B181.3 Z-14.08 F211.03 G1 A438.3 B183.1 Z-14.06 F211.03 G1 A463.1 B184.9 Z-14.03 F211.03 G1 A488.2 B186.7 Z-14.01 F211.03 G1 A513.8 B188.6 Z-13.98 F211.03 G1 A539.9 B190.5 Z-13.96 F211.03 G1 A566.5 B192.4 Z-13.93 F211.03 G1 A593.6 B194.4 Z-13.90 F211.03 G1 A621.2 B196.5 Z-13.87 F211.03 G1 A649.5 B198.5 Z-13.84 F211.03 G1 A678.3 B200.7 Z-13.81 F211.03 G1 A707.9 B202.8 Z-13.78 F211.03 G1 A738.2 B205.1 Z-13.75 F211.03 G1 A769.2 B207.4 Z-13.72 F211.03 G1 A801.2 B209.7 Z-13.69 F211.03 G1 A834.0 B212.1 Z-13.66 F211.03 G1 A867.8 B214.6 Z-13.62 F211.03 G1 A902.8 B217.2 Z-13.59 F211.03 G1 A939.0 B219.9 Z-13.55 F211.03 G1 A976.5 B222.7 Z-13.51 F211.03 G1 A1015.6 B225.6 Z-13.47 F211.03 G1 A1056.4 B228.7 Z-13.43 F211.03 G1 A1099.2 B231.9 Z-13.39 F211.03 G1 A1144.2 B235.3 Z-13.34 F211.03 G1 A1192.1 B238.9 Z-13.29 F211.03 G1 A1243.2 B242.9 Z-13.24 F211.03 G1 A1298.4 B247.1 Z-13.19 F211.03 G1 A1358.8 B251.9 Z-13.13 F211.03 G1 A1426.5 B257.3 Z-13.06 F211.03 G1 A1504.8 B263.8 Z-12.99 F211.03 G1 A1601.8 B272.6 Z-12.90 F211.03 G94 G1 A1607.0 B274.3 Z-12.50 F20000.0 G1 A1993.0 F20000.0 G1 Z0 A2173.0 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0

18:44:17.486 duet1.duet_comm RUN MACRO: dough_spread_optimized.g

18:44:17.887 duet2.duet_comm GCODE: T0 G1 E245 F840 G1 E-1 F100

18:44:42.230 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000

18:45:10.230 make_crepe_action add_topping_shape started

18:45:10.232 duet1.duet_comm UPLOAD MACRO: maus_s.g G93 G1 A-64 B202 F240.00 G1 A-59 B203 F240.00 G1 A-56 B210 F240.00 G1 A-54 B219 F240.00 G1 A-59 B227 F240.00 G1 A-64 B223 F240.00 G1 A-67 B216 F240.00 G1 A-72 B212 F240.00 G1 A-77 B219 F240.00 G1 A-78 B229 F240.00 G1 A-75 B238 F240.00 G1 A-69 B240 F240.00 G94

18:45:10.266 duet1.duet_comm UPLOAD MACRO: maus_u2.g G93 G1 A-44 B230 F240.00 G1 A-50 B239 F240.00 G1 A-56 B248 F240.00 G1 A-64 B256 F240.00 G1 A-66 B258 F240.00 G1 A-62 B257 F240.00 G1 A-64 B268 F240.00 G1 A-59 B276 F240.00 G1 A-47 B273 F240.00 G1 A-37 B263 F240.00 G1 A-32 B252 F240.00 G1 A-27 B241 F240.00 G94

18:45:10.313 duet1.duet_comm UPLOAD MACRO: maus_a2.g G93 G1 A-31 B285 F240.00 G1 A-24 B272 F240.00 G1 A-20 B261 F240.00 G1 A-17 B249 F240.00 G1 A-16 B247 F240.00 G1 A-13 B245 F240.00 G1 A-5 B241 F240.00 G1 A1 B246 F240.00 G1 A3 B255 F240.00 G1 A2 B266 F240.00 G1 A-5 B278 F240.00 G1 A-20 B283 F240.00 G1 A-25 B275 F240.00 G94

18:45:10.355 make_crepe_action Uploaded 4 path macros. Starting execution.

18:45:10.367 duet1.duet_comm UPLOAD MACRO: maus_m1.g G93 G1 A40 B197 F240.00 G1 A43 B203 F240.00 G1 A47 B209 F240.00 G1 A51 B214 F240.00 G1 A53 B216 F240.00 G1 A49 B211 F240.00 G1 A45 B206 F240.00 G1 A41 B204 F240.00 G1 A36 B206 F240.00 G1 A31 B213 F240.00 G1 A31 B223 F240.00 G1 A34 B231 F240.00 G1 A39 B237 F240.00 G1 A42 B242 F240.00 G1 A37 B236 F240.00 G1 A33 B229 F240.00 G1 A29 B224 F240.00 G1 A23 B224 F240.00 G1 A17 B229 F240.00 G1 A14 B239 F240.00 G1 A16 B248 F240.00 G1 A18 B257 F240.00 G1 A22 B266 F240.00 G94

18:45:10.402 duet1.duet_comm GCODE: G1 A-64 B202 F6000

18:45:14.416 make_crepe_action wait_until: timeout waiting for idle

18:45:14.418 duet2.duet_comm GCODE: T1 G1 E23.5 F480

18:45:14.436 duet1.duet_comm RUN MACRO: maus_s.g

18:45:18.629 duet1.duet_comm GCODE: G1 A-44 B230 F6000

18:45:20.531 duet2.duet_comm GCODE: T1 G1 E23.6 F480

18:45:20.531 duet1.duet_comm RUN MACRO: maus_u2.g

18:45:24.030 duet1.duet_comm GCODE: G1 A-31 B285 F6000

18:45:24.731 duet2.duet_comm GCODE: T1 G1 E25.6 F480

18:45:24.731 duet1.duet_comm RUN MACRO: maus_a2.g

18:45:29.129 duet1.duet_comm GCODE: G1 A40 B197 F6000

18:45:31.331 duet1.duet_comm RUN MACRO: maus_m1.g

18:45:31.331 duet2.duet_comm GCODE: T1 G1 E45.2 F480

18:45:37.342 make_crepe_action fold started

18:45:37.345 duet1.duet_comm GCODE: G1 B5 F6000

18:45:37.357 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0

18:45:37.370 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.0 F20000 G1 Y-50 Z-24.416666666666668 F3000 G1 X-140 Y-49 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000

18:45:50.236 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000

18:45:52.838 make_crepe_action fold started

18:45:52.842 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.0 F20000 G1 Y-50 Z-24.416666666666668 F3000 G1 X-140 Y-49 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000

18:45:58.929 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000

18:46:00.733 make_crepe_action push_off started

18:46:00.740 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.0 F20000 G1 Y-58 Z-21.416666666666668 F3000 G1 Z50 Y-78 F6000 G1 Z100 Y-120.0 F6000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000

18:46:08.333 make_crepe_action wipe_spatula started

18:46:08.334 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C355 F20000 G1 Z-39 G1 C132 G1 C149 Z-10 G1 C5 G1 X0 Y0 Z0 B5 C5 F20000

18:46:12.230 duet1.duet_comm GCODE: G92 A0

18:46:12.240 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0033

dm 290

flowrate 14

gap 26

offset 22

r_min 27

r0 140

spin_out 180

steps 50

dispense.toppings

available ["plain","chocolate","apple"]

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 0.2

description Apple with cinamon topping

display_name Apple Sauce

dm 318

flowrate 8

name apple

port 1

dispense.toppings.chocolate

density 0.1

description Rich chocolate topping

display_name Chocolate Sauce

dm 300

flowrate 10

name chocolate

port 2

dispense.toppings.plain

description Just the pure crêpe.

display_name Plain

name plain

general

start_type_description_service true

use_sim_time false

machine

a_max_deg_per_min 20000

pos_idle G1 X0 Y0 Z0 B5 C5 F20000

x_scrape -115

x_spread 23

y_center -53

y_end -90

y_start -15

z_scrape_start -26

z_spread_end -12.5

z_spread_start -14.5

z_thread_pitch 15

Crêpe #385