Video

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Frame Analysis

14:08:50 0:27 observation 14:09:17
1 14:08:56
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2 14:09:03
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3 14:09:10
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:08:50 0.007s
prepare 0% 15:08:50 0.012s
oiling 0% 15:08:53 3.724s
spread_dough 0% 15:09:01 11.303s

Machine Logs

15:08:50.094 crepe_log_node Action status update: 1
15:08:50.094 make_crepe_action Executing make_crepe action
15:08:50.097 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-25_15-08-50/session.json
15:08:50.099 make_crepe_action prepare started
15:08:50.100 crepe_log_node Action status update: 2
15:08:50.102 duet1.duet_comm GCODE: G28 X Y
15:08:50.111 duet1.duet_comm GCODE: G92 A0
15:08:50.122 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:08:53.796 make_crepe_action oiling started
15:08:53.797 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
15:08:53.799 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.14 B124.47 F6000
15:08:55.097 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
15:08:55.141 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:08:55.726 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:08:59.232 make_crepe_action wait_until: timeout waiting for idle
15:08:59.234 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:08:59.237 duet1.duet_comm GCODE: G92 A0
15:09:00.044 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:09:01.397 make_crepe_action spread_dough started
15:09:01.399 make_crepe_action Full Duration: 7.3s; Speed: 305.6 mm/s; r_critical: 80.8mm; r_stop: 80.8mm ;duration_stop: 5.4s
15:09:01.402 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
15:09:02.199 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
15:09:02.469 duet2.duet_comm GCODE: M106 P3 S1
15:09:03.000 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:09:03.274 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:09:04.082 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:09:04.888 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:09:05.666 duet2.duet_comm GCODE: T0 G1 E21.09854574342918 F232.4188376753507
15:09:06.470 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Max retries exceeded with url: /rr_gcode?gcode=T0%0AG1%20E21.09854574342918%20F232.4188376753507 (Caused by ConnectTimeoutError(<urllib3.connection.HTTPConnection object at 0xffffa428f290>, 'Connection to 192.168.8.4 timed out. (connect timeout=0.8)'))
15:09:06.485 duet2.duet_comm GCODE: T0 G1 E7.0958225251003615 F206.20841683366731
15:09:07.291 duet2.duet_comm gcode failed: HTTPConnectionPool(host='192.168.8.4', port=80): Read timed out.
15:09:15.326 crepe_log_node Action status update: 3
15:09:16.101 make_crepe_action Cancel requested, stopping execution
15:09:16.201 make_crepe_action duet1 busy on cancel, sending 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