Maus Robotics Dashboard

Overview

Machine maus-nilo

Topping apple

Hotplate 205°C

Diameter - mm

Timing

Started 17:47:16 11/29/2025

→

Ended 17:49:14 11/29/2025

118s

Status

Environment

30.1°C Temperature

28.1% Humidity

Video

0:00 / 0:00 fps

Frame Analysis

17:47:16 1:58 observation 17:49:14

1 17:47:45

2 17:48:15

3 17:48:44

Phases

Phase Detail Progress Time Elapsed

init 0% 18:47:16 0.008s

prepare 0% 18:47:16 0.012s

spread_dough_optimized 0% 18:47:19 2.937s

add_topping_shape 0% 18:48:12 55.237s

fold 0% 18:48:39 82.339s

push_off 0% 18:49:02 105.838s

wipe_spatula 0% 18:49:10 113.441s

Machine Logs

18:47:16.793 make_crepe_action Executing make_crepe action

18:47:16.793 crepe_log_node Action status update: 1

18:47:16.794 make_crepe_action prepare started

18:47:16.796 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-11-29_18-47-16/session.json

18:47:16.798 duet1.duet_comm GCODE: G28 X Y

18:47:16.800 crepe_log_node Action status update: 2

18:47:16.808 duet1.duet_comm GCODE: G92 A0

18:47:16.828 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

18:47:19.730 make_crepe_action spread_dough_optimized started

18:47:19.731 make_crepe_action Full Duration: 11.9s; Speed: 199.4 mm/s; r_critical: 57.1mm; r_stop: 57.1mm ;duration_stop: 9.9s

18:47:19.734 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.50 A9.04 B151.74 F6000

18:47:22.033 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.0 B151.7 Z-14.50 F297.04 G1 A25.7 B153.0 Z-14.48 F297.04 G1 A42.5 B154.2 Z-14.47 F297.04 G1 A59.4 B155.4 Z-14.45 F297.04 G1 A76.5 B156.6 Z-14.43 F297.04 G1 A93.7 B157.9 Z-14.41 F297.04 G1 A111.1 B159.2 Z-14.40 F297.04 G1 A128.7 B160.5 Z-14.38 F297.04 G1 A146.4 B161.7 Z-14.36 F297.04 G1 A164.4 B163.1 Z-14.34 F297.04 G1 A182.5 B164.4 Z-14.32 F297.04 G1 A200.8 B165.7 Z-14.30 F297.04 G1 A219.3 B167.1 Z-14.28 F297.04 G1 A237.9 B168.4 Z-14.27 F297.04 G1 A256.8 B169.8 Z-14.25 F297.04 G1 A276.0 B171.2 Z-14.23 F297.04 G1 A295.3 B172.6 Z-14.21 F297.04 G1 A314.9 B174.0 Z-14.19 F297.04 G1 A334.7 B175.5 Z-14.17 F297.04 G1 A354.7 B176.9 Z-14.15 F297.04 G1 A375.0 B178.4 Z-14.12 F297.04 G1 A395.6 B179.9 Z-14.10 F297.04 G1 A416.5 B181.5 Z-14.08 F297.04 G1 A437.6 B183.0 Z-14.06 F297.04 G1 A459.1 B184.6 Z-14.04 F297.04 G1 A480.8 B186.2 Z-14.02 F297.04 G1 A502.9 B187.8 Z-13.99 F297.04 G1 A525.3 B189.4 Z-13.97 F297.04 G1 A548.1 B191.1 Z-13.95 F297.04 G1 A571.3 B192.8 Z-13.92 F297.04 G1 A594.9 B194.5 Z-13.90 F297.04 G1 A618.9 B196.3 Z-13.88 F297.04 G1 A643.4 B198.1 Z-13.85 F297.04 G1 A668.3 B199.9 Z-13.82 F297.04 G1 A693.7 B201.8 Z-13.80 F297.04 G1 A719.6 B203.7 Z-13.77 F297.04 G1 A746.1 B205.7 Z-13.75 F297.04 G1 A773.3 B207.7 Z-13.72 F297.04 G1 A801.0 B209.7 Z-13.69 F297.04 G1 A829.5 B211.8 Z-13.66 F297.04 G1 A858.7 B214.0 Z-13.63 F297.04 G1 A888.7 B216.2 Z-13.60 F297.04 G1 A919.6 B218.5 Z-13.57 F297.04 G1 A951.5 B220.9 Z-13.54 F297.04 G1 A984.4 B223.3 Z-13.50 F297.04 G1 A1018.5 B225.9 Z-13.47 F297.04 G1 A1054.0 B228.5 Z-13.43 F297.04 G1 A1090.9 B231.3 Z-13.40 F297.04 G1 A1129.5 B234.2 Z-13.36 F297.04 G1 A1170.0 B237.3 Z-13.32 F297.04 G94 G1 A1281.3 B274.3 Z-12.50 F12000.0 G1 A1993.0 F12000.0 G1 Z0 A2173.0 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0

18:47:22.083 duet1.duet_comm RUN MACRO: dough_spread_optimized.g

18:47:22.483 duet2.duet_comm GCODE: T0 G1 E194 F840 G1 E-1 F100

18:47:44.031 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000

18:48:12.031 make_crepe_action add_topping_shape started

18:48:12.033 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

18:48:12.067 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

18:48:12.105 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

18:48:12.140 make_crepe_action Uploaded 4 path macros. Starting execution.

18:48:12.153 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

18:48:12.189 duet1.duet_comm GCODE: G1 A-64 B202 F6000

18:48:16.200 make_crepe_action wait_until: timeout waiting for idle

18:48:16.202 duet2.duet_comm GCODE: T1 G1 E23.5 F480

18:48:16.204 duet1.duet_comm RUN MACRO: maus_s.g

18:48:20.433 duet1.duet_comm GCODE: G1 A-44 B230 F6000

18:48:22.337 duet2.duet_comm GCODE: T1 G1 E23.6 F480

18:48:22.337 duet1.duet_comm RUN MACRO: maus_u2.g

18:48:25.829 duet1.duet_comm GCODE: G1 A-31 B285 F6000

18:48:26.538 duet2.duet_comm GCODE: T1 G1 E25.6 F480

18:48:26.538 duet1.duet_comm RUN MACRO: maus_a2.g

18:48:30.927 duet1.duet_comm GCODE: G1 A40 B197 F6000

18:48:33.128 duet2.duet_comm GCODE: T1 G1 E45.2 F480

18:48:33.132 duet1.duet_comm RUN MACRO: maus_m1.g

18:48:39.131 duet1.duet_comm GCODE: G1 B5 F6000

18:48:39.131 make_crepe_action fold started

18:48:39.145 duet1.duet_comm GCODE: G1 A220 F4000 G92 A0

18:48:39.157 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

18:48:52.028 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000

18:48:54.629 make_crepe_action fold started

18:48:54.632 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

18:49:00.735 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000

18:49:02.632 make_crepe_action push_off started

18:49:02.635 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

18:49:10.234 make_crepe_action wipe_spatula started

18:49:10.239 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

18:49:14.137 duet1.duet_comm GCODE: G92 A0

18:49:14.150 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0027

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 12000

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 #386