Video

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Frame Analysis

11:06:40 1:32 observation 11:08:12
1 11:07:03
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2 11:07:26
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3 11:07:49
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:06:40 0.005s
prepare 0% 12:06:40 0.008s
oiling 0% 12:06:44 3.221s
spread_dough 0% 12:06:51 10.828s
add_topping 0% 12:07:22 41.510s
fold 0% 12:07:38 57.354s
push_off 0% 12:07:57 76.809s
wipe_spatula 0% 12:08:04 83.937s

Machine Logs

12:06:40.927 make_crepe_action Executing make_crepe action
12:06:40.927 crepe_log_node Action status update: 1
12:06:40.929 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_12-06-40/session.json
12:06:40.930 make_crepe_action prepare started
12:06:40.931 crepe_log_node Action status update: 2
12:06:40.932 duet1.duet_comm GCODE: G28 X Y
12:06:40.942 duet1.duet_comm GCODE: G92 A0
12:06:40.952 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
12:06:44.149 make_crepe_action oiling started
12:06:44.150 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
12:06:44.155 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.14 B124.47 F6000
12:06:45.442 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
12:06:45.491 duet1.duet_comm RUN MACRO: oiling_optimized.g
12:06:45.693 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
12:06:49.586 make_crepe_action wait_until: timeout waiting for idle
12:06:49.589 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
12:06:49.589 duet1.duet_comm GCODE: G92 A0
12:06:51.725 make_crepe_action spread_dough started
12:06:51.726 make_crepe_action Full Duration: 7.3s; Speed: 305.6 mm/s; r_critical: 80.8mm; r_stop: 80.8mm ;duration_stop: 5.4s
12:06:51.729 duet2.duet_comm GCODE: M106 P3 S1
12:06:51.731 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
12:06:52.582 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
12:06:52.582 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
12:06:53.384 duet1.duet_comm RUN MACRO: dough_spread_air.g
12:06:53.384 duet2.duet_comm GCODE: T0 G1 E21.09854574342918 F232.4188376753507
12:06:53.395 duet2.duet_comm GCODE: T0 G1 E7.0958225251003615 F206.20841683366731
12:07:06.436 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
12:07:06.445 duet2.duet_comm GCODE: M106 P3 S0
12:07:22.437 make_crepe_action add_topping started
12:07:22.439 make_crepe_action Topping: chocolate, Port: 2, Density: 0.016, Flowrate: 1.1, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.014545454545454545
12:07:22.444 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B183 F412.50 G1 A-33 B187 F412.50 G1 A-28 B193 F412.50 G1 A-24 B199 F412.50 G1 A-19 B204 F412.50 G1 A-13 B203 F412.50 G1 A-8 B208 F412.50 G1 A-5 B216 F412.50 G1 A-7 B226 F412.50 G1 A-13 B234 F412.50 G1 A-8 B233 F412.50 G1 A-0 B233 F412.50 G1 A8 B237 F412.50 G1 A17 B240 F412.50 G1 A27 B244 F412.50 G1 A37 B247 F412.50 G1 A49 B250 F412.50 G1 A61 B252 F412.50 G1 A71 B251 F412.50 G1 A73 B242 F412.50 G1 A70 B232 F412.50 G1 A64 B224 F412.50 G1 A57 B221 F412.50 G1 A50 B221 F412.50 G1 A42 B226 F412.50 G1 A39 B234 F412.50 G1 A33 B237 F412.50 G1 A35 B228 F412.50 G1 A39 B220 F412.50 G1 A47 B214 F412.50 G1 A53 B212 F412.50 G1 A60 B213 F412.50 G1 A66 B216 F412.50 G1 A72 B222 F412.50 G1 A77 B229 F412.50 G1 A81 B238 F412.50 G1 A81 B249 F412.50 G1 A79 B259 F412.50 G1 A75 B269 F412.50 G1 A67 B279 F412.50 G1 A43 B288 F412.50 G1 A-41 B292 F412.50 G1 A-74 B284 F412.50 G1 A-81 B274 F412.50 G1 A-84 B265 F412.50 G1 A-85 B255 F412.50 G1 A-86 B246 F412.50 G1 A-82 B236 F412.50 G1 A-74 B240 F412.50 G1 A-65 B251 F412.50 G1 A-60 B254 F412.50 G1 A-52 B246 F412.50 G1 A-47 B236 F412.50 G1 A-44 B226 F412.50 G1 A-43 B216 F412.50 G1 A-42 B206 F412.50 G1 A-42 B197 F412.50 G1 A-42 B186 F412.50 G1 A-38 B183 F412.50 G94
12:07:22.488 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B207 F412.50 G1 A-30 B200 F412.50 G1 A-32 B206 F412.50 G1 A-30 B200 F412.50 G1 A-32 B206 F412.50 G94
12:07:22.532 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 586.074, 'start_coord': {'d': 182.992, 'rot': -37.626}, 'g_code': 'G93\nG1 A-38 B183 F412.50\nG1 A-33 B187 F412.50\nG1 A-28 B193 F412.50\nG1 A-24 B199 F412.50\nG1 A-19 B204 F412.50\nG1 A-13 B203 F412.50\nG1 A-8 B208 F412.50\nG1 A-5 B216 F412.50\nG1 A-7 B226 F412.50\nG1 A-13 B234 F412.50\nG1 A-8 B233 F412.50\nG1 A-0 B233 F412.50\nG1 A8 B237 F412.50\nG1 A17 B240 F412.50\nG1 A27 B244 F412.50\nG1 A37 B247 F412.50\nG1 A49 B250 F412.50\nG1 A61 B252 F412.50\nG1 A71 B251 F412.50\nG1 A73 B242 F412.50\nG1 A70 B232 F412.50\nG1 A64 B224 F412.50\nG1 A57 B221 F412.50\nG1 A50 B221 F412.50\nG1 A42 B226 F412.50\nG1 A39 B234 F412.50\nG1 A33 B237 F412.50\nG1 A35 B228 F412.50\nG1 A39 B220 F412.50\nG1 A47 B214 F412.50\nG1 A53 B212 F412.50\nG1 A60 B213 F412.50\nG1 A66 B216 F412.50\nG1 A72 B222 F412.50\nG1 A77 B229 F412.50\nG1 A81 B238 F412.50\nG1 A81 B249 F412.50\nG1 A79 B259 F412.50\nG1 A75 B269 F412.50\nG1 A67 B279 F412.50\nG1 A43 B288 F412.50\nG1 A-41 B292 F412.50\nG1 A-74 B284 F412.50\nG1 A-81 B274 F412.50\nG1 A-84 B265 F412.50\nG1 A-85 B255 F412.50\nG1 A-86 B246 F412.50\nG1 A-82 B236 F412.50\nG1 A-74 B240 F412.50\nG1 A-65 B251 F412.50\nG1 A-60 B254 F412.50\nG1 A-52 B246 F412.50\nG1 A-47 B236 F412.50\nG1 A-44 B226 F412.50\nG1 A-43 B216 F412.50\nG1 A-42 B206 F412.50\nG1 A-42 B197 F412.50\nG1 A-42 B186 F412.50\nG1 A-38 B183 F412.50\nG94'}, {'name': 'maus-image_maus-eye.g', 'length': 47.393, 'start_coord': {'d': 206.638, 'rot': -32.293}, 'g_code': 'G93\nG1 A-32 B207 F412.50\nG1 A-30 B200 F412.50\nG1 A-32 B206 F412.50\nG1 A-30 B200 F412.50\nG1 A-32 B206 F412.50\nG94'}]
12:07:22.534 duet1.duet_comm GCODE: G1 A-38 B183 F6000
12:07:25.060 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
12:07:26.362 duet2.duet_comm GCODE: T2 G1 E12.271998772818364 F86.374749498998
12:07:26.362 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
12:07:36.301 duet1.duet_comm GCODE: G1 A-32 B207 F6000
12:07:36.724 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
12:07:36.724 duet2.duet_comm GCODE: T2 G1 E2.0939333211878304 F86.374749498998
12:07:38.281 make_crepe_action fold started
12:07:38.281 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
12:07:38.296 duet1.duet_comm GCODE: G1 B10 F6000
12:07:38.307 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
12:07:38.317 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
12:07:50.152 make_crepe_action fold started
12:07:50.152 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
12:07:50.163 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
12:07:57.734 make_crepe_action push_off started
12:07:57.740 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
12:08:04.865 make_crepe_action wipe_spatula started
12:08:04.869 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