Video

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Frame Analysis

11:28:17 0:43 observation 11:29:00
1 11:28:27
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2 11:28:38
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3 11:28:49
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:28:17 0.006s
prepare 0% 12:28:17 0.020s
oiling 0% 12:28:21 3.802s
spread_dough 0% 12:28:28 11.375s

Machine Logs

12:28:17.200 make_crepe_action Executing make_crepe action
12:28:17.200 crepe_log_node Action status update: 1
12:28:17.202 make_crepe_action prepare started
12:28:17.203 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_12-28-17/session.json
12:28:17.205 duet1.duet_comm GCODE: G28 X Y
12:28:17.205 crepe_log_node Action status update: 2
12:28:17.215 duet1.duet_comm GCODE: G92 A0
12:28:17.224 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
12:28:21.003 make_crepe_action oiling started
12:28:21.005 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
12:28:21.007 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.14 B124.47 F6000
12:28:22.289 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
12:28:22.344 duet1.duet_comm RUN MACRO: oiling_optimized.g
12:28:22.541 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
12:28:26.440 make_crepe_action wait_until: timeout waiting for idle
12:28:26.448 duet1.duet_comm GCODE: G92 A0
12:28:26.449 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
12:28:28.576 make_crepe_action spread_dough started
12:28:28.577 make_crepe_action Full Duration: 7.3s; Speed: 305.6 mm/s; r_critical: 80.8mm; r_stop: 80.8mm ;duration_stop: 5.4s
12:28:28.580 duet2.duet_comm GCODE: M106 P3 S1
12:28:28.581 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
12:28:29.432 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
12:28:29.432 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
12:28:30.234 duet1.duet_comm RUN MACRO: dough_spread_air.g
12:28:30.236 duet2.duet_comm GCODE: T0 G1 E21.09854574342918 F232.4188376753507
12:28:30.247 duet2.duet_comm GCODE: T0 G1 E7.0958225251003615 F206.20841683366731
12:28:43.290 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
12:28:43.299 duet2.duet_comm GCODE: M106 P3 S0
12:28:46.831 crepe_log_node Action status update: 3
12:28:59.292 make_crepe_action Cancel requested, stopping execution

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