Video

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Frame Analysis

12:45:55 1:40 observation 12:47:35
1 12:46:20
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2 12:46:45
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3 12:47:10
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Phases

Phase Detail Progress Time Elapsed
init 0% 13:45:55 0.009s
prepare 0% 13:45:55 0.013s
oiling 0% 13:45:58 3.195s
spread_dough 0% 13:46:06 11.397s
add_topping 0% 13:46:47 52.530s
fold 0% 13:47:02 67.405s
push_off 0% 13:47:23 88.018s
wipe_spatula 0% 13:47:31 95.797s

Machine Logs

13:45:55.397 make_crepe_action Executing make_crepe action
13:45:55.398 make_crepe_action prepare started
13:45:55.399 crepe_log_node Action status update: 1
13:45:55.403 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-25_13-45-55/session.json
13:45:55.404 duet1.duet_comm GCODE: G28 X Y
13:45:55.407 crepe_log_node Action status update: 2
13:45:55.416 duet1.duet_comm GCODE: G92 A0
13:45:55.426 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
13:45:58.596 make_crepe_action oiling started
13:45:58.597 make_crepe_action Oiling - Full Duration: 2.4s; Speed: 550.0 mm/s; r_critical: 145.4mm; r_stop: 145.4mm; duration_stop: 0.4s
13:45:58.602 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.66 B144.53 F6000
13:46:00.095 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.7 B144.5 F4110.69 G1 A7.6 B145.0 F4110.69 G1 A10.5 B145.5 F4110.69 G1 A13.4 B146.0 F4110.69 G1 A16.3 B146.5 F4110.69 G1 A19.2 B147.0 F4110.69 G1 A22.2 B147.4 F4110.69 G1 A25.1 B147.9 F4110.69 G1 A28.1 B148.4 F4110.69 G1 A31.0 B148.9 F4110.69 G1 A34.0 B149.4 F4110.69 G1 A37.0 B149.9 F4110.69 G1 A40.0 B150.4 F4110.69 G1 A43.0 B150.9 F4110.69 G1 A46.0 B151.4 F4110.69 G1 A49.0 B151.9 F4110.69 G1 A52.1 B152.4 F4110.69 G1 A55.1 B152.9 F4110.69 G1 A58.2 B153.4 F4110.69 G1 A61.2 B153.9 F4110.69 G1 A64.3 B154.5 F4110.69 G1 A67.4 B155.0 F4110.69 G1 A70.5 B155.5 F4110.69 G1 A73.6 B156.0 F4110.69 G1 A76.7 B156.5 F4110.69 G1 A79.8 B157.0 F4110.69 G1 A83.0 B157.6 F4110.69 G1 A86.1 B158.1 F4110.69 G1 A89.3 B158.6 F4110.69 G1 A92.5 B159.1 F4110.69 G94 G1 A819.6 B280.3 F13000.0 G1 A988.8 F13000.0
13:46:00.140 duet1.duet_comm RUN MACRO: oiling_optimized.g
13:46:01.090 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
13:46:02.983 make_crepe_action wait_until: timeout waiting for idle
13:46:02.999 duet1.duet_comm GCODE: G92 A0
13:46:03.010 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
13:46:03.886 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
13:46:06.798 make_crepe_action spread_dough started
13:46:06.799 make_crepe_action Full Duration: 7.3s; Speed: 305.6 mm/s; r_critical: 80.8mm; r_stop: 80.8mm ;duration_stop: 5.4s
13:46:06.802 duet1.duet_comm GCODE: G90 G92 A0 G1 B20 F8000 G1 A0.92 B198.52 F8000
13:46:07.416 duet2.duet_comm GCODE: M106 P3 S1
13:46:08.395 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B198.5 F319.46 G1 A21.6 B191.8 F319.46 G1 A42.5 B185.0 F319.46 G1 A63.7 B178.2 F319.46 G1 A85.2 B171.5 F319.46 G1 A107.1 B173.1 F319.46 G1 A129.2 B175.4 F319.46 G1 A151.8 B177.6 F319.46 G1 A174.7 B179.9 F319.46 G1 A197.9 B182.2 F319.46 G1 A221.6 B184.6 F319.46 G1 A245.6 B187.0 F319.46 G1 A270.1 B189.4 F319.46 G1 A295.1 B191.9 F319.46 G1 A320.5 B194.5 F319.46 G1 A346.5 B197.1 F319.46 G1 A373.0 B199.7 F319.46 G1 A400.1 B202.4 F319.46 G1 A427.8 B205.2 F319.46 G1 A456.2 B208.0 F319.46 G1 A485.3 B210.9 F319.46 G1 A515.2 B213.9 F319.46 G1 A546.0 B217.0 F319.46 G1 A577.7 B220.2 F319.46 G1 A610.3 B223.4 F319.46 G1 A644.1 B226.8 F319.46 G1 A679.2 B230.3 F319.46 G1 A715.6 B234.0 F319.46 G1 A753.6 B237.8 F319.46 G1 A793.4 B241.7 F319.46 G94 G1 A1690.0 B322.5 F13000.0 G1 A2050.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
13:46:08.806 duet1.duet_comm RUN MACRO: dough_spread_air.g
13:46:09.216 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
13:46:10.176 duet2.duet_comm GCODE: T0 G1 E21.09854574342918 F232.4188376753507
13:46:10.193 duet2.duet_comm GCODE: T0 G1 E7.0958225251003615 F206.20841683366731
13:46:22.485 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
13:46:23.257 duet2.duet_comm GCODE: M106 P3 S0
13:46:47.899 make_crepe_action add_topping started
13:46:47.900 make_crepe_action Topping: apple, Port: 1, Density: 0.026, Flowrate: 1.3, DM: 310.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.019999999999999997
13:46:47.905 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-36 B217 F300.00 G1 A-30 B221 F300.00 G1 A-24 B227 F300.00 G1 A-19 B233 F300.00 G1 A-11 B232 F300.00 G1 A-5 B235 F300.00 G1 A-2 B244 F300.00 G1 A-6 B254 F300.00 G1 A-8 B258 F300.00 G1 A2 B256 F300.00 G1 A13 B258 F300.00 G1 A23 B261 F300.00 G1 A35 B264 F300.00 G1 A47 B267 F300.00 G1 A61 B269 F300.00 G1 A71 B267 F300.00 G1 A73 B258 F300.00 G1 A67 B248 F300.00 G1 A60 B243 F300.00 G1 A51 B243 F300.00 G1 A43 B248 F300.00 G1 A40 B257 F300.00 G1 A36 B252 F300.00 G1 A40 B245 F300.00 G1 A48 B238 F300.00 G1 A56 B236 F300.00 G1 A63 B237 F300.00 G1 A70 B242 F300.00 G1 A76 B249 F300.00 G1 A80 B258 F300.00 G1 A80 B268 F300.00 G1 A77 B278 F300.00 G1 A70 B288 F300.00 G1 A55 B298 F300.00 G1 A-8 B305 F300.00 G1 A-69 B300 F300.00 G1 A-79 B290 F300.00 G1 A-83 B281 F300.00 G1 A-85 B272 F300.00 G1 A-79 B262 F300.00 G1 A-69 B269 F300.00 G1 A-58 B277 F300.00 G1 A-50 B271 F300.00 G1 A-44 B262 F300.00 G1 A-41 B252 F300.00 G1 A-40 B242 F300.00 G1 A-40 B232 F300.00 G1 A-40 B221 F300.00 G1 A-36 B217 F300.00 G94
13:46:47.963 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-30 B235 F300.00 G1 A-30 B235 F300.00 G94
13:46:48.024 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 F300.00\nG1 A-30 B221 F300.00\nG1 A-24 B227 F300.00\nG1 A-19 B233 F300.00\nG1 A-11 B232 F300.00\nG1 A-5 B235 F300.00\nG1 A-2 B244 F300.00\nG1 A-6 B254 F300.00\nG1 A-8 B258 F300.00\nG1 A2 B256 F300.00\nG1 A13 B258 F300.00\nG1 A23 B261 F300.00\nG1 A35 B264 F300.00\nG1 A47 B267 F300.00\nG1 A61 B269 F300.00\nG1 A71 B267 F300.00\nG1 A73 B258 F300.00\nG1 A67 B248 F300.00\nG1 A60 B243 F300.00\nG1 A51 B243 F300.00\nG1 A43 B248 F300.00\nG1 A40 B257 F300.00\nG1 A36 B252 F300.00\nG1 A40 B245 F300.00\nG1 A48 B238 F300.00\nG1 A56 B236 F300.00\nG1 A63 B237 F300.00\nG1 A70 B242 F300.00\nG1 A76 B249 F300.00\nG1 A80 B258 F300.00\nG1 A80 B268 F300.00\nG1 A77 B278 F300.00\nG1 A70 B288 F300.00\nG1 A55 B298 F300.00\nG1 A-8 B305 F300.00\nG1 A-69 B300 F300.00\nG1 A-79 B290 F300.00\nG1 A-83 B281 F300.00\nG1 A-85 B272 F300.00\nG1 A-79 B262 F300.00\nG1 A-69 B269 F300.00\nG1 A-58 B277 F300.00\nG1 A-50 B271 F300.00\nG1 A-44 B262 F300.00\nG1 A-41 B252 F300.00\nG1 A-40 B242 F300.00\nG1 A-40 B232 F300.00\nG1 A-40 B221 F300.00\nG1 A-36 B217 F300.00\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 F300.00\nG1 A-30 B235 F300.00\nG94'}]
13:46:48.031 duet1.duet_comm GCODE: G1 A-36 B217 F6000
13:46:51.597 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
13:46:51.653 duet2.duet_comm GCODE: T1 G1 E0.58249832999332 F43.687374749499
13:46:52.408 duet2.duet_comm GCODE: T1 G1 E18.097425078156313 F112.20240480961925
13:47:02.294 duet1.duet_comm GCODE: G1 A-30 B235 F6000
13:47:02.697 duet2.duet_comm GCODE: T1 G1 E0.7447247615230461 F112.20240480961925
13:47:02.698 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
13:47:02.802 duet1.duet_comm GCODE: G1 B5 F6000
13:47:02.803 make_crepe_action fold started
13:47:02.814 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
13:47:02.823 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
13:47:02.982 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
13:47:14.697 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
13:47:16.099 make_crepe_action fold started
13:47:16.108 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
13:47:22.097 duet1.duet_comm GCODE: G92 A0 G1 A30 F6000
13:47:23.397 make_crepe_action push_off started
13:47:23.399 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-67 Z-21.916666666666668 F3000 G1 Z40 Y-81 F8000 G1 Z80 Y-125.0 F8000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
13:47:31.197 make_crepe_action wipe_spatula started
13:47:31.199 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 0.001
dm 322.5
flowrate 11
gap 36
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 0.000002
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 0.026
description Apfelmus
display_name Apfelmuss
dm 310
flowrate 1.3
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