Video

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Frame Analysis

13:59:59 1:45 observation 14:01:44
1 14:00:25
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2 14:00:51
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3 14:01:17
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:59:59 0.006s
prepare 0% 14:59:59 0.010s
oiling 0% 15:00:02 2.979s
spread_dough 0% 15:00:09 10.585s
add_topping 0% 15:00:40 41.254s
fold 0% 15:01:10 71.695s
push_off 0% 15:01:30 91.173s
wipe_spatula 0% 15:01:37 98.375s

Machine Logs

14:59:59.042 make_crepe_action Executing make_crepe action
14:59:59.042 crepe_log_node Action status update: 1
14:59:59.044 make_crepe_action prepare started
14:59:59.045 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-25_14-59-59/session.json
14:59:59.048 crepe_log_node Action status update: 2
14:59:59.049 duet1.duet_comm GCODE: G28 X Y
14:59:59.058 duet1.duet_comm GCODE: G92 A0
14:59:59.066 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:00:02.000 make_crepe_action oiling started
15:00:02.001 make_crepe_action Oiling - Full Duration: 3.1s; Speed: 550.0 mm/s; r_critical: 145.4mm; r_stop: 145.4mm; duration_stop: 1.1s
15:00:02.004 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.14 B124.47 F6000
15:00:03.302 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.1 B124.5 F1625.19 G1 A10.6 B125.6 F1625.19 G1 A17.2 B126.6 F1625.19 G1 A23.8 B127.7 F1625.19 G1 A30.4 B128.8 F1625.19 G1 A37.1 B130.0 F1625.19 G1 A43.8 B131.1 F1625.19 G1 A50.6 B132.2 F1625.19 G1 A57.4 B133.3 F1625.19 G1 A64.2 B134.5 F1625.19 G1 A71.1 B135.6 F1625.19 G1 A78.1 B136.8 F1625.19 G1 A85.0 B137.9 F1625.19 G1 A92.1 B139.1 F1625.19 G1 A99.2 B140.3 F1625.19 G1 A106.3 B141.5 F1625.19 G1 A113.5 B142.7 F1625.19 G1 A120.8 B143.9 F1625.19 G1 A128.1 B145.1 F1625.19 G1 A135.4 B146.3 F1625.19 G1 A142.8 B147.6 F1625.19 G1 A150.3 B148.8 F1625.19 G1 A157.9 B150.1 F1625.19 G1 A165.5 B151.3 F1625.19 G1 A173.1 B152.6 F1625.19 G1 A180.9 B153.9 F1625.19 G1 A188.7 B155.2 F1625.19 G1 A196.5 B156.5 F1625.19 G1 A204.5 B157.8 F1625.19 G1 A212.5 B159.1 F1625.19 G94 G1 A939.6 B280.3 F13000.0 G1 A1108.8 F13000.0
15:00:03.345 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:00:04.826 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:00:05.630 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:00:07.434 make_crepe_action wait_until: timeout waiting for idle
15:00:07.436 duet1.duet_comm GCODE: G92 A0
15:00:07.437 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:00:09.598 make_crepe_action spread_dough started
15:00:09.599 make_crepe_action Full Duration: 7.3s; Speed: 305.6 mm/s; r_critical: 80.8mm; r_stop: 80.8mm ;duration_stop: 5.4s
15:00:09.601 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
15:00:10.398 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
15:00:10.709 duet2.duet_comm GCODE: M106 P3 S1
15:00:11.199 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:00:11.535 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:00:12.341 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:00:13.149 duet2.duet_comm GCODE: T0 G1 E21.09854574342918 F232.4188376753507
15:00:14.713 duet2.duet_comm GCODE: T0 G1 E7.0958225251003615 F206.20841683366731
15:00:25.113 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:00:26.712 duet2.duet_comm GCODE: M106 P3 S0
15:00:40.296 make_crepe_action add_topping started
15:00:40.297 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
15:00:40.301 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B195 F300.00 G1 A-33 B200 F300.00 G1 A-28 B206 F300.00 G1 A-24 B212 F300.00 G1 A-19 B216 F300.00 G1 A-13 B216 F300.00 G1 A-8 B220 F300.00 G1 A-5 B229 F300.00 G1 A-7 B239 F300.00 G1 A-13 B246 F300.00 G1 A-8 B246 F300.00 G1 A-0 B246 F300.00 G1 A8 B249 F300.00 G1 A17 B253 F300.00 G1 A27 B256 F300.00 G1 A37 B260 F300.00 G1 A49 B262 F300.00 G1 A61 B265 F300.00 G1 A71 B264 F300.00 G1 A73 B255 F300.00 G1 A70 B245 F300.00 G1 A64 B237 F300.00 G1 A57 B233 F300.00 G1 A50 B233 F300.00 G1 A42 B238 F300.00 G1 A39 B247 F300.00 G1 A33 B249 F300.00 G1 A35 B241 F300.00 G1 A39 B233 F300.00 G1 A47 B226 F300.00 G1 A53 B224 F300.00 G1 A60 B225 F300.00 G1 A66 B229 F300.00 G1 A72 B234 F300.00 G1 A77 B242 F300.00 G1 A81 B251 F300.00 G1 A81 B261 F300.00 G1 A79 B271 F300.00 G1 A75 B281 F300.00 G1 A67 B291 F300.00 G1 A43 B301 F300.00 G1 A-41 B304 F300.00 G1 A-74 B297 F300.00 G1 A-81 B287 F300.00 G1 A-84 B277 F300.00 G1 A-85 B267 F300.00 G1 A-86 B259 F300.00 G1 A-82 B248 F300.00 G1 A-74 B253 F300.00 G1 A-65 B263 F300.00 G1 A-60 B266 F300.00 G1 A-52 B258 F300.00 G1 A-47 B249 F300.00 G1 A-44 B239 F300.00 G1 A-43 B229 F300.00 G1 A-42 B219 F300.00 G1 A-42 B209 F300.00 G1 A-42 B199 F300.00 G1 A-38 B195 F300.00 G94
15:00:40.348 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B219 F300.00 G1 A-30 B213 F300.00 G1 A-32 B219 F300.00 G1 A-30 B212 F300.00 G1 A-32 B218 F300.00 G94
15:00:40.406 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 586.074, 'start_coord': {'d': 195.492, 'rot': -37.626}, 'g_code': 'G93\nG1 A-38 B195 F300.00\nG1 A-33 B200 F300.00\nG1 A-28 B206 F300.00\nG1 A-24 B212 F300.00\nG1 A-19 B216 F300.00\nG1 A-13 B216 F300.00\nG1 A-8 B220 F300.00\nG1 A-5 B229 F300.00\nG1 A-7 B239 F300.00\nG1 A-13 B246 F300.00\nG1 A-8 B246 F300.00\nG1 A-0 B246 F300.00\nG1 A8 B249 F300.00\nG1 A17 B253 F300.00\nG1 A27 B256 F300.00\nG1 A37 B260 F300.00\nG1 A49 B262 F300.00\nG1 A61 B265 F300.00\nG1 A71 B264 F300.00\nG1 A73 B255 F300.00\nG1 A70 B245 F300.00\nG1 A64 B237 F300.00\nG1 A57 B233 F300.00\nG1 A50 B233 F300.00\nG1 A42 B238 F300.00\nG1 A39 B247 F300.00\nG1 A33 B249 F300.00\nG1 A35 B241 F300.00\nG1 A39 B233 F300.00\nG1 A47 B226 F300.00\nG1 A53 B224 F300.00\nG1 A60 B225 F300.00\nG1 A66 B229 F300.00\nG1 A72 B234 F300.00\nG1 A77 B242 F300.00\nG1 A81 B251 F300.00\nG1 A81 B261 F300.00\nG1 A79 B271 F300.00\nG1 A75 B281 F300.00\nG1 A67 B291 F300.00\nG1 A43 B301 F300.00\nG1 A-41 B304 F300.00\nG1 A-74 B297 F300.00\nG1 A-81 B287 F300.00\nG1 A-84 B277 F300.00\nG1 A-85 B267 F300.00\nG1 A-86 B259 F300.00\nG1 A-82 B248 F300.00\nG1 A-74 B253 F300.00\nG1 A-65 B263 F300.00\nG1 A-60 B266 F300.00\nG1 A-52 B258 F300.00\nG1 A-47 B249 F300.00\nG1 A-44 B239 F300.00\nG1 A-43 B229 F300.00\nG1 A-42 B219 F300.00\nG1 A-42 B209 F300.00\nG1 A-42 B199 F300.00\nG1 A-38 B195 F300.00\nG94'}, {'name': 'maus-image_maus-eye.g', 'length': 47.393, 'start_coord': {'d': 219.138, 'rot': -32.293}, 'g_code': 'G93\nG1 A-32 B219 F300.00\nG1 A-30 B213 F300.00\nG1 A-32 B219 F300.00\nG1 A-30 B212 F300.00\nG1 A-32 B218 F300.00\nG94'}]
15:00:40.408 duet1.duet_comm GCODE: G1 A-38 B195 F6000
15:00:43.464 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
15:00:43.798 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
15:00:45.089 duet2.duet_comm GCODE: T1 G1 E21.919637398797594 F112.20240480961925
15:00:45.896 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:01:02.668 make_crepe_action wait_until: timeout waiting for result
15:01:02.670 duet1.duet_comm GCODE: G1 A-32 B219 F6000
15:01:03.098 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
15:01:03.911 duet2.duet_comm GCODE: T1 G1 E3.7400801603206415 F112.20240480961925
15:01:04.713 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Max retries exceeded with url: /rr_gcode?gcode=T1%0AG1%20E3.7400801603206415%20F112.20240480961925 (Caused by ConnectTimeoutError(<urllib3.connection.HTTPConnection object at 0xffffa426a0f0>, 'Connection to 192.168.8.4 timed out. (connect timeout=0.8)'))
15:01:10.720 make_crepe_action wait_until: timeout waiting for result
15:01:10.722 duet1.duet_comm GCODE: G1 B10 F6000
15:01:10.722 make_crepe_action fold started
15:01:10.736 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:01:10.751 duet1.duet_comm GCODE: G94 G92 A0 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 A8 F2500 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
15:01:11.968 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
15:01:12.778 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:01:22.598 make_crepe_action fold started
15:01:22.598 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:01:22.607 duet1.duet_comm GCODE: G94 G92 A0 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 A8 F2500 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
15:01:30.197 make_crepe_action push_off started
15:01:30.200 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-15.0 Z-26.5 A30 F20000 G1 Y-71 Z-21.916666666666668 F3000 G1 Z20 Y-85 F8000 G1 Z50 Y-122.0 F8000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
15:01:37.397 make_crepe_action wipe_spatula started
15:01:37.401 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C340 F20000 G1 Z-42 G1 C135 G1 C140 Z-30 G1 C5 G1 Z0 G1 X180 C340 G1 Z-42 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 180
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