Video

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Frame Analysis

12:29:24 1:34 observation 12:30:58
1 12:29:47
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2 12:30:11
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3 12:30:34
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Phases

Phase Detail Progress Time Elapsed
init 0% 13:29:24 0.006s
prepare 0% 13:29:24 0.010s
oiling 0% 13:29:28 3.696s
spread_dough 0% 13:29:38 14.096s
add_topping 0% 13:30:13 48.797s
fold 0% 13:30:26 61.501s
push_off 0% 13:30:46 81.797s
wipe_spatula 0% 13:30:54 89.396s

Machine Logs

13:29:24.799 make_crepe_action Executing make_crepe action
13:29:24.799 crepe_log_node Action status update: 1
13:29:24.800 make_crepe_action prepare started
13:29:24.801 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-25_13-29-24/session.json
13:29:24.802 duet1.duet_comm GCODE: G28 X Y
13:29:24.804 crepe_log_node Action status update: 2
13:29:24.812 duet1.duet_comm GCODE: G92 A0
13:29:24.823 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
13:29:28.496 make_crepe_action oiling started
13:29:28.497 make_crepe_action Oiling - Full Duration: 6.1s; Speed: 220.0 mm/s; r_critical: 58.2mm; r_stop: 58.2mm; duration_stop: 5.3s
13:29:28.499 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.66 B144.53 F6000
13:29:29.997 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.7 B144.5 F329.09 G1 A19.2 B146.9 F329.09 G1 A34.0 B149.4 F329.09 G1 A49.0 B151.9 F329.09 G1 A64.3 B154.4 F329.09 G1 A79.8 B157.0 F329.09 G1 A95.6 B159.7 F329.09 G1 A111.7 B162.3 F329.09 G1 A128.1 B165.1 F329.09 G1 A144.8 B167.9 F329.09 G1 A161.9 B170.7 F329.09 G1 A179.4 B173.6 F329.09 G1 A197.3 B176.6 F329.09 G1 A215.6 B179.6 F329.09 G1 A234.3 B182.7 F329.09 G1 A253.6 B185.9 F329.09 G1 A273.4 B189.2 F329.09 G1 A293.8 B192.6 F329.09 G1 A314.8 B196.1 F329.09 G1 A336.5 B199.7 F329.09 G1 A359.1 B203.5 F329.09 G1 A382.5 B207.3 F329.09 G1 A406.8 B211.4 F329.09 G1 A432.4 B215.6 F329.09 G1 A459.2 B220.1 F329.09 G1 A487.5 B224.8 F329.09 G1 A517.6 B229.7 F329.09 G1 A550.0 B235.1 F329.09 G1 A585.1 B240.9 F329.09 G1 A623.8 B247.3 F329.09 G94 G1 A822.1 B280.3 F13000.0 G1 A988.8 F13000.0
13:29:30.040 duet1.duet_comm RUN MACRO: oiling_optimized.g
13:29:31.368 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
13:29:36.541 make_crepe_action wait_until: timeout waiting for idle
13:29:36.543 duet1.duet_comm GCODE: G92 A0
13:29:36.555 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
13:29:37.658 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
13:29:38.896 make_crepe_action spread_dough started
13:29:38.897 make_crepe_action Full Duration: 8.0s; Speed: 294.1 mm/s; r_critical: 77.8mm; r_stop: 77.8mm ;duration_stop: 6.1s
13:29:38.898 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F8000 G1 A0.91 B196.52 F8000
13:29:39.579 duet2.duet_comm GCODE: M106 P3 S1
13:29:40.996 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B196.5 F283.29 G1 A23.3 B189.3 F283.29 G1 A46.0 B182.1 F283.29 G1 A69.1 B174.9 F283.29 G1 A92.5 B171.2 F283.29 G1 A116.2 B173.4 F283.29 G1 A140.4 B175.7 F283.29 G1 A164.9 B178.0 F283.29 G1 A189.8 B180.4 F283.29 G1 A215.1 B182.8 F283.29 G1 A240.9 B185.2 F283.29 G1 A267.2 B187.7 F283.29 G1 A293.9 B190.2 F283.29 G1 A321.1 B192.8 F283.29 G1 A348.9 B195.4 F283.29 G1 A377.3 B198.1 F283.29 G1 A406.4 B200.8 F283.29 G1 A436.1 B203.6 F283.29 G1 A466.5 B206.5 F283.29 G1 A497.6 B209.4 F283.29 G1 A529.6 B212.4 F283.29 G1 A562.6 B215.5 F283.29 G1 A596.5 B218.7 F283.29 G1 A631.5 B222.0 F283.29 G1 A667.6 B225.5 F283.29 G1 A705.1 B229.0 F283.29 G1 A744.1 B232.7 F283.29 G1 A784.8 B236.5 F283.29 G1 A827.3 B240.5 F283.29 G1 A872.1 B244.7 F283.29 G94 G1 A1784.1 B322.5 F13000.0 G1 A2144.1 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
13:29:41.497 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
13:29:41.800 duet1.duet_comm RUN MACRO: dough_spread_air.g
13:29:42.106 duet2.duet_comm GCODE: T0 G1 E23.792103778497133 F232.4188376753507
13:29:42.569 duet2.duet_comm GCODE: T0 G1 E7.124498525608694 F178.08016032064128
13:29:56.142 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
13:29:56.532 duet2.duet_comm GCODE: M106 P3 S0
13:30:13.596 make_crepe_action add_topping started
13:30:13.597 make_crepe_action Topping: apple, Port: 1, Density: 0.016, Flowrate: 1.1, DM: 310.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.014545454545454545
13:30:13.600 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-36 B217 F412.50 G1 A-30 B221 F412.50 G1 A-24 B227 F412.50 G1 A-19 B233 F412.50 G1 A-11 B232 F412.50 G1 A-5 B235 F412.50 G1 A-2 B244 F412.50 G1 A-6 B254 F412.50 G1 A-8 B258 F412.50 G1 A2 B256 F412.50 G1 A13 B258 F412.50 G1 A23 B261 F412.50 G1 A35 B264 F412.50 G1 A47 B267 F412.50 G1 A61 B269 F412.50 G1 A71 B267 F412.50 G1 A73 B258 F412.50 G1 A67 B248 F412.50 G1 A60 B243 F412.50 G1 A51 B243 F412.50 G1 A43 B248 F412.50 G1 A40 B257 F412.50 G1 A36 B252 F412.50 G1 A40 B245 F412.50 G1 A48 B238 F412.50 G1 A56 B236 F412.50 G1 A63 B237 F412.50 G1 A70 B242 F412.50 G1 A76 B249 F412.50 G1 A80 B258 F412.50 G1 A80 B268 F412.50 G1 A77 B278 F412.50 G1 A70 B288 F412.50 G1 A55 B298 F412.50 G1 A-8 B305 F412.50 G1 A-69 B300 F412.50 G1 A-79 B290 F412.50 G1 A-83 B281 F412.50 G1 A-85 B272 F412.50 G1 A-79 B262 F412.50 G1 A-69 B269 F412.50 G1 A-58 B277 F412.50 G1 A-50 B271 F412.50 G1 A-44 B262 F412.50 G1 A-41 B252 F412.50 G1 A-40 B242 F412.50 G1 A-40 B232 F412.50 G1 A-40 B221 F412.50 G1 A-36 B217 F412.50 G94
13:30:13.642 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-30 B235 F412.50 G1 A-30 B235 F412.50 G94
13:30:13.702 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 483.878, 'start_coord': {'d': 216.907, 'rot': -35.681}, 'g_code': 'G93\nG1 A-36 B217 F412.50\nG1 A-30 B221 F412.50\nG1 A-24 B227 F412.50\nG1 A-19 B233 F412.50\nG1 A-11 B232 F412.50\nG1 A-5 B235 F412.50\nG1 A-2 B244 F412.50\nG1 A-6 B254 F412.50\nG1 A-8 B258 F412.50\nG1 A2 B256 F412.50\nG1 A13 B258 F412.50\nG1 A23 B261 F412.50\nG1 A35 B264 F412.50\nG1 A47 B267 F412.50\nG1 A61 B269 F412.50\nG1 A71 B267 F412.50\nG1 A73 B258 F412.50\nG1 A67 B248 F412.50\nG1 A60 B243 F412.50\nG1 A51 B243 F412.50\nG1 A43 B248 F412.50\nG1 A40 B257 F412.50\nG1 A36 B252 F412.50\nG1 A40 B245 F412.50\nG1 A48 B238 F412.50\nG1 A56 B236 F412.50\nG1 A63 B237 F412.50\nG1 A70 B242 F412.50\nG1 A76 B249 F412.50\nG1 A80 B258 F412.50\nG1 A80 B268 F412.50\nG1 A77 B278 F412.50\nG1 A70 B288 F412.50\nG1 A55 B298 F412.50\nG1 A-8 B305 F412.50\nG1 A-69 B300 F412.50\nG1 A-79 B290 F412.50\nG1 A-83 B281 F412.50\nG1 A-85 B272 F412.50\nG1 A-79 B262 F412.50\nG1 A-69 B269 F412.50\nG1 A-58 B277 F412.50\nG1 A-50 B271 F412.50\nG1 A-44 B262 F412.50\nG1 A-41 B252 F412.50\nG1 A-40 B242 F412.50\nG1 A-40 B232 F412.50\nG1 A-40 B221 F412.50\nG1 A-36 B217 F412.50\nG94'}, {'name': 'maus-image_maus-eye.g', 'length': 19.912, 'start_coord': {'d': 235.054, 'rot': -29.732}, 'g_code': 'G93\nG1 A-30 B235 F412.50\nG1 A-30 B235 F412.50\nG94'}]
13:30:13.711 duet1.duet_comm GCODE: G1 A-36 B217 F6000
13:30:17.306 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
13:30:17.361 duet2.duet_comm GCODE: T1 G1 E0.58249832999332 F43.687374749499
13:30:18.164 duet2.duet_comm GCODE: T1 G1 E10.13208267589725 F86.374749498998
13:30:25.796 duet1.duet_comm GCODE: G1 A-30 B235 F6000
13:30:26.197 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
13:30:26.298 duet1.duet_comm GCODE: G1 B5 F6000
13:30:26.298 make_crepe_action fold started
13:30:26.308 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
13:30:26.319 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B10 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 B10 C5 F20000
13:30:26.640 duet2.duet_comm GCODE: T1 G1 E0.41694400291492073 F86.374749498998
13:30:27.115 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
13:30:38.194 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
13:30:39.595 make_crepe_action fold started
13:30:39.600 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B10 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 B10 C5 F20000
13:30:45.598 duet1.duet_comm GCODE: G92 A0 G1 A45 F6000
13:30:46.596 make_crepe_action push_off started
13:30:46.598 duet1.duet_comm GCODE: G94 G1 F20000 G1 X0 Y0 Z0 B10 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 B10 C5 F20000
13:30:54.196 make_crepe_action wipe_spatula started
13:30:54.199 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 B10 C5 F20000

Comments

Parameters

dispense.dough

density 0.0011
dm 322.5
flowrate 11
gap 34
max_g_per_rot 3
offset 2
port 0
r_min 2
r0 160
rpm_max 320
spin_out 360
steps 30
tau 686

dispense.oiling

density 0.000005
dm 304
flowrate 0.066
gap 60
offset 13
r_min 27
r0 160
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-image.svg
svg_resolution 10

dispense.toppings.apple

density 0.016
description Apfelmus
display_name Apfelmuss
dm 310
flowrate 1.1
max_g_per_rot 0.88
name apple
port 1
rpm_max 180
tau 175.5

dispense.toppings.blueberry

density 0.016
description Blueberry topping
display_name Blueberry Sauce
dm 285
flowrate 1.1
max_g_per_rot 0.88
name blueberry
port 3
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.016
description Rich chocolate topping
display_name Chocolate Sauce
dm 297.5
flowrate 1.1
max_g_per_rot 0.88
name chocolate
port 2
rpm_max 180
tau 175.5

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 13000
pos_idle G1 X0 Y0 Z0 B10 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