Maus Robotics Dashboard

Overview

Machine maus-nilo

Topping chocolate

Hotplate 209°C

Diameter - mm

Timing

Started 12:24:06 12/12/2025

→

Ended 12:25:59 12/12/2025

113s

Status

Environment

26.9°C Temperature

30.0% Humidity

Video

0:00 / 0:00 fps

Frame Analysis

12:24:06 1:53 observation 12:25:59

1 12:24:34

2 12:25:02

3 12:25:30

Phases

Phase Detail Progress Time Elapsed

init 0% 13:24:06 0.007s

prepare 0% 13:24:06 0.012s

oiling_optimized 0% 13:24:09 2.951s

spread_dough_optimized 0% 13:24:17 11.249s

add_topping_shape 0% 13:25:12 66.451s

fold 0% 13:25:27 81.190s

push_off 0% 13:25:47 100.856s

wipe_spatula 0% 13:25:54 108.458s

Machine Logs

13:24:06.187 make_crepe_action Executing make_crepe action

13:24:06.187 crepe_log_node Action status update: 1

13:24:06.189 make_crepe_action prepare started

13:24:06.190 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2025-12-12_13-24-06/session.json

13:24:06.191 duet1.duet_comm GCODE: G28 X Y

13:24:06.193 crepe_log_node Action status update: 2

13:24:06.203 duet1.duet_comm GCODE: G92 A0

13:24:06.214 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

13:24:09.139 make_crepe_action oiling_optimized started

13:24:09.141 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

13:24:09.142 duet1.duet_comm GCODE: G90 G92 A0 G1 A9.04 B151.74 F6000

13:24:10.740 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

13:24:10.790 duet1.duet_comm RUN MACRO: oiling_optimized.g

13:24:11.191 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1

13:24:14.274 make_crepe_action wait_until: timeout waiting for idle

13:24:14.278 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0

13:24:14.278 duet1.duet_comm GCODE: G92 A0

13:24:14.291 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

13:24:17.437 make_crepe_action spread_dough_optimized started

13:24:17.438 make_crepe_action Full Duration: 18.4s; Speed: 125.0 mm/s; r_critical: 35.8mm; r_stop: 35.8mm ;duration_stop: 17.2s

13:24:17.440 duet1.duet_comm GCODE: G90 G92 A0 G1 X23.0 Y-53 B20 F6000 G1 Z-13.60 A8.85 B148.70 F6000

13:24:19.639 duet1.duet_comm UPLOAD MACRO: dough_spread_optimized.g G93 G1 A8.8 B148.7 Z-13.60 F66.26 G1 A55.0 B152.3 Z-13.57 F66.26 G1 A102.4 B156.0 Z-13.53 F66.26 G1 A151.1 B159.9 Z-13.50 F66.26 G1 A201.2 B163.8 Z-13.46 F66.26 G1 A253.0 B167.8 Z-13.43 F66.26 G1 A306.5 B172.0 Z-13.39 F66.26 G1 A361.9 B176.4 Z-13.35 F66.26 G1 A419.5 B180.9 Z-13.31 F66.26 G1 A479.5 B185.7 Z-13.27 F66.26 G1 A542.3 B190.6 Z-13.23 F66.26 G1 A608.3 B195.8 Z-13.18 F66.26 G1 A678.1 B201.3 Z-13.13 F66.26 G1 A752.3 B207.2 Z-13.08 F66.26 G1 A832.0 B213.6 Z-13.02 F66.26 G1 A918.6 B220.5 Z-12.96 F66.26 G1 A1014.2 B228.2 Z-12.90 F66.26 G1 A1122.5 B236.9 Z-12.82 F66.26 G1 A1250.5 B247.5 Z-12.74 F66.26 G1 A1416.1 B261.7 Z-12.63 F66.26 G94 G1 A1446.2 B266.8 Z-12.30 F12000.0 G1 A2062.0 F12000.0 G1 Z0 A2242.0 B5 F6000 G1 X0 Y0 Z0 B5 C5 F20000 G92 A0

13:24:19.686 duet1.duet_comm RUN MACRO: dough_spread_optimized.g

13:24:20.084 duet2.duet_comm GCODE: T0 G1 E268 F840 G1 E-1 F100

13:24:44.639 duet1.duet_comm GCODE: G92 A0 G1 A180 F6000

13:25:12.639 make_crepe_action add_topping_shape started

13:25:12.643 duet1.duet_comm UPLOAD MACRO: leadXpro_X2.g G93 G1 A-16 B199 F375.00 G1 A-13 B209 F375.00 G1 A-11 B219 F375.00 G1 A-7 B228 F375.00 G1 A-2 B236 F375.00 G1 A4 B243 F375.00 G1 A12 B248 F375.00 G1 A22 B252 F375.00 G94

13:25:12.703 duet1.duet_comm UPLOAD MACRO: leadXpro_X.g G93 G1 A9 B192 F375.00 G1 A6 B204 F375.00 G1 A2 B215 F375.00 G1 A-2 B226 F375.00 G1 A-8 B237 F375.00 G1 A-16 B249 F375.00 G1 A-28 B260 F375.00 G1 A-46 B270 F375.00 G94

13:25:12.757 duet1.duet_comm UPLOAD MACRO: leadXpro_P.g G93 G1 A-93 B268 F375.00 G1 A-76 B260 F375.00 G1 A-63 B252 F375.00 G1 A-54 B243 F375.00 G1 A-46 B233 F375.00 G1 A-41 B223 F375.00 G1 A-36 B214 F375.00 G1 A-38 B207 F375.00 G1 A-42 B202 F375.00 G1 A-47 B197 F375.00 G1 A-51 B193 F375.00 G1 A-57 B194 F375.00 G1 A-62 B200 F375.00 G1 A-66 B209 F375.00 G1 A-66 B220 F375.00 G1 A-63 B228 F375.00 G1 A-59 B236 F375.00 G1 A-53 B242 F375.00 G94

13:25:12.798 duet1.duet_comm UPLOAD MACRO: leadXpro_L.g G93 G1 A35 B192 F375.00 G1 A38 B199 F375.00 G1 A42 B206 F375.00 G1 A47 B212 F375.00 G1 A52 B217 F375.00 G1 A58 B220 F375.00 G1 A64 B223 F375.00 G1 A65 B230 F375.00 G1 A61 B241 F375.00 G1 A55 B252 F375.00 G1 A46 B264 F375.00 G94

13:25:12.800 make_crepe_action Uploaded 4 path macros. Starting execution.

13:25:12.850 duet1.duet_comm GCODE: G1 A-16 B199 F6000

13:25:16.039 duet1.duet_comm RUN MACRO: leadXpro_X2.g

13:25:16.039 duet2.duet_comm GCODE: T2 G1 E3.2 F150

13:25:17.440 duet1.duet_comm GCODE: G1 A9 B192 F6000

13:25:18.239 duet1.duet_comm RUN MACRO: leadXpro_X.g

13:25:18.239 duet2.duet_comm GCODE: T2 G1 E3.2 F150

13:25:19.742 duet1.duet_comm GCODE: G1 A-93 B268 F6000

13:25:20.741 duet1.duet_comm RUN MACRO: leadXpro_P.g

13:25:20.741 duet2.duet_comm GCODE: T2 G1 E7.1 F150

13:25:23.940 duet1.duet_comm GCODE: G1 A35 B192 F6000

13:25:25.441 duet1.duet_comm RUN MACRO: leadXpro_L.g

13:25:25.441 duet2.duet_comm GCODE: T2 G1 E4.2 F150

13:25:27.339 make_crepe_action fold started

13:25:27.339 duet1.duet_comm GCODE: G1 B5 F6000

13:25:27.351 duet1.duet_comm GCODE: G1 A200 F4000 G92 A0

13:25:27.365 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

13:25:38.638 duet1.duet_comm GCODE: G92 A0 G1 A-90 F6000

13:25:40.040 make_crepe_action fold started

13:25:40.046 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

13:25:46.046 duet1.duet_comm GCODE: G92 A0 G1 A-45 F6000

13:25:47.044 make_crepe_action push_off started

13:25:47.047 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

13:25:54.642 make_crepe_action wipe_spatula started

13:25:54.644 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

13:25:58.049 duet1.duet_comm GCODE: G92 A0

13:25:58.065 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B5 C5 F20000

Comments

Parameters

dispense.dough

density 0.004

dm 290

flowrate 14

gap 28

offset 22

r_min 32

r0 143

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/leadXpro.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 -12.3

z_spread_start -13.6

z_thread_pitch 15

Crêpe #508