Video

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Frame Analysis

14:04:48 0:42 observation 14:05:30
1 14:04:58
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2 14:05:09
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3 14:05:19
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:04:48 0.187s
prepare 0% 15:04:48 0.225s
oiling 0% 15:04:51 3.162s
spread_dough 0% 15:04:59 10.763s

Machine Logs

15:04:48.732 make_crepe_action Executing make_crepe action
15:04:48.732 crepe_log_node Action status update: 1
15:04:48.733 make_crepe_action prepare started
15:04:48.735 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-25_15-04-48/session.json
15:04:48.737 duet1.duet_comm GCODE: G28 X Y
15:04:48.746 duet1.duet_comm GCODE: G92 A0
15:04:48.753 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:04:48.919 crepe_log_node Action status update: 2
15:04:51.895 make_crepe_action oiling started
15:04:51.896 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
15:04:51.898 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.14 B124.47 F6000
15:04:53.197 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
15:04:53.242 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:04:54.176 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:04:57.332 make_crepe_action wait_until: timeout waiting for idle
15:04:57.337 duet1.duet_comm GCODE: G92 A0
15:04:58.835 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:04:59.496 make_crepe_action spread_dough started
15:04:59.497 make_crepe_action Full Duration: 7.3s; Speed: 305.6 mm/s; r_critical: 80.8mm; r_stop: 80.8mm ;duration_stop: 5.4s
15:04:59.499 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
15:04:59.640 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:05:00.298 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
15:05:00.413 duet2.duet_comm GCODE: M106 P3 S1
15:05:01.099 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:05:01.217 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Max retries exceeded with url: /rr_gcode?gcode=M106%20P3%20S1 (Caused by ConnectTimeoutError(<urllib3.connection.HTTPConnection object at 0xffffa426a8a0>, 'Connection to 192.168.8.4 timed out. (connect timeout=0.8)'))
15:05:02.029 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:05:02.835 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:05:03.644 duet2.duet_comm GCODE: T0 G1 E21.09854574342918 F232.4188376753507
15:05:05.214 duet2.duet_comm GCODE: T0 G1 E7.0958225251003615 F206.20841683366731
15:05:14.227 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:05:15.035 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:05:15.845 duet2.duet_comm GCODE: M106 P3 S0
15:05:16.650 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:05:20.459 crepe_log_node Action status update: 3
15:05:30.196 make_crepe_action Cancel requested, stopping execution
15:05:30.295 make_crepe_action duet1 busy on cancel, sending M0
15:05:30.296 make_crepe_action duet2 busy on cancel, sending M0
15:05:30.296 duet1.duet_comm GCODE: M0

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