Maus Robotics Dashboard

Overview

Machine maus-nilo

Topping chocolate

Hotplate 212°C

Diameter - mm

Timing

Started 12:08:48 12/12/2025

→

Ended 12:10:45 12/12/2025

117s

Status

Environment

26.1°C Temperature

31.2% Humidity

Video

0:00 / 0:00 fps

Frame Analysis

12:08:48 1:57 observation 12:10:45

1 12:09:17

2 12:09:46

3 12:10:15

Phases

Phase Detail Progress Time Elapsed

init 0% 13:08:48 0.008s

prepare 0% 13:08:48 0.013s

oiling_optimized 0% 13:08:51 2.939s

spread_dough_optimized 0% 13:09:00 11.337s

add_topping_shape 0% 13:09:55 66.638s

fold 0% 13:10:13 84.537s

push_off 0% 13:10:33 104.350s

wipe_spatula 0% 13:10:40 111.961s

Machine Logs

13:08:48.701 crepe_log_node Action status update: 1

13:08:48.701 make_crepe_action Executing make_crepe action

13:08:48.704 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-12_13-08-48/session.json

13:08:48.705 make_crepe_action prepare started

13:08:48.707 crepe_log_node Action status update: 2

13:08:48.709 duet1.duet_comm GCODE: G28 X Y

13:08:48.719 duet1.duet_comm GCODE: G92 A0

13:08:48.746 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

13:08:51.641 make_crepe_action oiling_optimized started

13:08:51.642 make_crepe_action Oiling - Full Duration: 3.1s; Speed: 333.3 mm/s; r_critical: 95.5mm; r_stop: 95.5mm; duration_stop: 1.6s

13:08:51.644 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000

13:08:53.247 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A9.0 B151.7 F692.43 G1 A21.1 B153.7 F692.43 G1 A33.3 B155.8 F692.43 G1 A45.7 B157.9 F692.43 G1 A58.3 B160.0 F692.43 G1 A71.1 B162.1 F692.43 G1 A84.1 B164.3 F692.43 G1 A97.4 B166.5 F692.43 G1 A110.9 B168.7 F692.43 G1 A124.6 B171.0 F692.43 G1 A138.6 B173.4 F692.43 G1 A152.9 B175.8 F692.43 G1 A167.5 B178.2 F692.43 G1 A182.5 B180.7 F692.43 G1 A197.8 B183.3 F692.43 G1 A213.4 B185.9 F692.43 G1 A229.5 B188.6 F692.43 G1 A245.9 B191.3 F692.43 G1 A262.9 B194.2 F692.43 G1 A280.4 B197.1 F692.43 G94 G1 A744.0 B274.3 F12000.0 G1 A894.6 F12000.0

13:08:53.308 duet1.duet_comm RUN MACRO: oiling_optimized.g

13:08:53.709 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1

13:08:56.794 make_crepe_action wait_until: timeout waiting for idle

13:08:56.803 duet1.duet_comm GCODE: G92 A0

13:08:56.813 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0

13:08:56.820 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

13:09:00.039 make_crepe_action spread_dough_optimized started

13:09:00.040 make_crepe_action Full Duration: 18.4s; Speed: 108.5 mm/s; r_critical: 31.1mm; r_stop: 32.0mm ;duration_stop: 17.4s

13:09:00.044 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-14.20 A9.17 B153.76 F6000

13:09:02.244 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A9.2 B153.8 Z-14.20 F65.56 G1 A51.2 B157.3 Z-14.16 F65.56 G1 A94.3 B160.9 Z-14.11 F65.56 G1 A138.7 B164.6 Z-14.07 F65.56 G1 A184.4 B168.5 Z-14.02 F65.56 G1 A231.5 B172.5 Z-13.97 F65.56 G1 A280.3 B176.6 Z-13.92 F65.56 G1 A330.9 B180.8 Z-13.87 F65.56 G1 A383.4 B185.2 Z-13.82 F65.56 G1 A438.3 B189.9 Z-13.76 F65.56 G1 A495.7 B194.7 Z-13.70 F65.56 G1 A556.1 B199.8 Z-13.64 F65.56 G1 A620.1 B205.3 Z-13.58 F65.56 G1 A688.3 B211.1 Z-13.51 F65.56 G1 A761.6 B217.3 Z-13.44 F65.56 G1 A841.6 B224.2 Z-13.36 F65.56 G1 A930.3 B231.8 Z-13.27 F65.56 G1 A1031.5 B240.6 Z-13.17 F65.56 G1 A1152.8 B251.4 Z-13.05 F65.56 G1 A1315.4 B266.8 Z-12.89 F65.56 G94 G1 A1315.4 B266.8 Z-12.50 F12000.0 G1 A1879.4 F12000.0 G1 Z0 A2059.4 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0

13:09:02.289 duet1.duet_comm RUN MACRO: dough_spread_optimized.g

13:09:02.691 duet2.duet_comm GCODE: T0 G1 E268 F840 G1 E-1 F100

13:09:27.340 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000

13:09:55.340 make_crepe_action add_topping_shape started

13:09:55.345 duet1.duet_comm UPLOAD MACRO: maus_s.g G93 G1 A-64 B184 F375.00 G1 A-59 B185 F375.00 G1 A-56 B192 F375.00 G1 A-54 B201 F375.00 G1 A-59 B209 F375.00 G1 A-64 B205 F375.00 G1 A-67 B198 F375.00 G1 A-72 B194 F375.00 G1 A-77 B201 F375.00 G1 A-78 B211 F375.00 G1 A-75 B220 F375.00 G1 A-69 B222 F375.00 G94

13:09:55.383 duet1.duet_comm UPLOAD MACRO: maus_u2.g G93 G1 A-44 B212 F375.00 G1 A-50 B221 F375.00 G1 A-56 B230 F375.00 G1 A-64 B238 F375.00 G1 A-66 B240 F375.00 G1 A-62 B239 F375.00 G1 A-64 B250 F375.00 G1 A-59 B258 F375.00 G1 A-47 B255 F375.00 G1 A-37 B245 F375.00 G1 A-32 B234 F375.00 G1 A-27 B223 F375.00 G94

13:09:55.421 duet1.duet_comm UPLOAD MACRO: maus_a2.g G93 G1 A-31 B267 F375.00 G1 A-24 B254 F375.00 G1 A-20 B243 F375.00 G1 A-17 B231 F375.00 G1 A-16 B229 F375.00 G1 A-13 B227 F375.00 G1 A-5 B223 F375.00 G1 A1 B228 F375.00 G1 A3 B237 F375.00 G1 A2 B248 F375.00 G1 A-5 B260 F375.00 G1 A-20 B265 F375.00 G1 A-25 B257 F375.00 G94

13:09:55.458 make_crepe_action Uploaded 4 path macros. Starting execution.

13:09:55.471 duet1.duet_comm UPLOAD MACRO: maus_m1.g G93 G1 A40 B179 F375.00 G1 A43 B185 F375.00 G1 A47 B191 F375.00 G1 A51 B196 F375.00 G1 A53 B198 F375.00 G1 A49 B193 F375.00 G1 A45 B188 F375.00 G1 A41 B186 F375.00 G1 A36 B188 F375.00 G1 A31 B195 F375.00 G1 A31 B205 F375.00 G1 A34 B213 F375.00 G1 A39 B219 F375.00 G1 A42 B224 F375.00 G1 A37 B218 F375.00 G1 A33 B211 F375.00 G1 A29 B206 F375.00 G1 A23 B206 F375.00 G1 A17 B211 F375.00 G1 A14 B221 F375.00 G1 A16 B230 F375.00 G1 A18 B239 F375.00 G1 A22 B248 F375.00 G94

13:09:55.507 duet1.duet_comm GCODE: G1 A-64 B184 F6000

13:09:58.939 duet1.duet_comm RUN MACRO: maus_s.g

13:09:58.939 duet2.duet_comm GCODE: T2 G1 E4.7 F150

13:10:01.039 duet1.duet_comm GCODE: G1 A-44 B212 F6000

13:10:01.840 duet1.duet_comm RUN MACRO: maus_u2.g

13:10:01.840 duet2.duet_comm GCODE: T2 G1 E4.7 F150

13:10:04.040 duet1.duet_comm GCODE: G1 A-31 B267 F6000

13:10:05.138 duet1.duet_comm RUN MACRO: maus_a2.g

13:10:05.138 duet2.duet_comm GCODE: T2 G1 E5.1 F150

13:10:08.039 duet1.duet_comm GCODE: G1 A40 B179 F6000

13:10:09.437 duet1.duet_comm RUN MACRO: maus_m1.g

13:10:09.437 duet2.duet_comm GCODE: T2 G1 E9.0 F150

13:10:13.239 duet1.duet_comm GCODE: G1 B5 F6000

13:10:13.239 make_crepe_action fold started

13:10:13.251 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0

13:10:13.261 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.5 F20000 G1 Y-50 Z-24.916666666666668 F3500 G1 X-140 Y-47 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

13:10:24.645 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000

13:10:26.039 make_crepe_action fold started

13:10:26.042 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.5 F20000 G1 Y-50 Z-24.916666666666668 F3500 G1 X-140 Y-47 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

13:10:32.040 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000

13:10:33.043 make_crepe_action push_off started

13:10:33.051 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B5 C5 F20000 G1 X-115.0 Y-15.0 Z-26.5 F20000 G1 Y-61 Z-21.916666666666668 F3000 G1 Z50 Y-81 F8000 G1 Z120 Y-125.0 F8000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B5 C5 F20000

13:10:40.639 make_crepe_action wipe_spatula started

13:10:40.642 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C340 F20000 G1 Z-42 G1 C135 G1 C140 Z-30 G1 C5 G1 X0 Y0 Z0 B5 C5 F20000

13:10:44.040 duet1.duet_comm GCODE: G92 A0

13:10:44.054 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.0043

dm 290

flowrate 14

gap 30

offset 22

r_min 32

r0 138

spin_out 360

steps 20

dispense.oiling

density 0.002

dm 290

flowrate 40

gap 60

offset 22

r_min 27

r0 140

steps 20

valve_closed 70

valve_open 0.1

dispense.toppings

available ["plain","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.blueberry

density 0.027

description Blueberry topping

display_name Blueberry Sauce

dm 318

flowrate 2

name blueberry

port 1

dispense.toppings.chocolate

density 0.04

description Rich chocolate topping

display_name Chocolate Sauce

dm 300

flowrate 2.5

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_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 -26.5

z_spread_end -12.5

z_spread_start -14.2

z_thread_pitch 15

Crêpe #503