Video

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Frame Analysis

11:33:54 1:31 observation 11:35:25
1 11:34:16
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2 11:34:39
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3 11:35:02
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:33:54 0.006s
prepare 0% 12:33:54 0.010s
oiling 0% 12:33:57 3.245s
spread_dough 0% 12:33:59 5.106s
add_topping 0% 12:34:32 38.104s
fold 0% 12:34:51 56.954s
push_off 0% 12:35:11 76.412s
wipe_spatula 0% 12:35:18 83.534s

Machine Logs

12:33:54.615 make_crepe_action Executing make_crepe action
12:33:54.615 crepe_log_node Action status update: 1
12:33:54.616 make_crepe_action prepare started
12:33:54.618 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_12-33-54/session.json
12:33:54.620 crepe_log_node Action status update: 2
12:33:54.622 duet1.duet_comm GCODE: G28 X Y
12:33:54.631 duet1.duet_comm GCODE: G92 A0
12:33:54.638 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
12:33:57.860 make_crepe_action oiling started
12:33:57.861 make_crepe_action Oiling - Full Duration: 1.9s; Speed: 733.3 mm/s; r_critical: 193.9mm; r_stop: 193.9mm; duration_stop: -0.7s
12:33:57.863 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.52 B139.51 F6000
12:33:59.297 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.5 B139.5 F-2347.41 G1 A-2.0 B138.4 F-2347.41 G1 A-8.5 B137.4 F-2347.41 G1 A-14.9 B136.3 F-2347.41 G1 A-21.3 B135.2 F-2347.41 G1 A-27.6 B134.2 F-2347.41 G1 A-34.0 B133.1 F-2347.41 G1 A-40.2 B132.1 F-2347.41 G1 A-46.5 B131.0 F-2347.41 G1 A-52.7 B130.0 F-2347.41 G1 A-58.8 B129.0 F-2347.41 G1 A-65.0 B127.9 F-2347.41 G1 A-71.0 B126.9 F-2347.41 G1 A-77.1 B125.9 F-2347.41 G1 A-83.1 B124.9 F-2347.41 G1 A-89.1 B123.9 F-2347.41 G1 A-95.1 B122.9 F-2347.41 G1 A-101.0 B122.0 F-2347.41 G1 A-106.9 B121.0 F-2347.41 G1 A-112.7 B120.0 F-2347.41 G1 A-118.6 B119.0 F-2347.41 G1 A-124.4 B118.1 F-2347.41 G1 A-130.1 B117.1 F-2347.41 G1 A-135.9 B116.1 F-2347.41 G1 A-141.6 B115.2 F-2347.41 G1 A-147.3 B114.2 F-2347.41 G1 A-152.9 B113.3 F-2347.41 G1 A-158.5 B112.4 F-2347.41 G1 A-164.1 B111.4 F-2347.41 G1 A-169.7 B110.5 F-2347.41 G94 G1 A849.2 B280.3 F13000.0 G1 A1018.8 F13000.0
12:33:59.340 duet1.duet_comm RUN MACRO: oiling_optimized.g
12:33:59.545 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
12:33:59.577 duet1.duet_comm GCODE: G92 A0
12:33:59.577 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
12:33:59.721 make_crepe_action spread_dough started
12:33:59.722 make_crepe_action Full Duration: 10.2s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.9s
12:33:59.723 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
12:33:59.723 duet2.duet_comm GCODE: M106 P3 S1
12:34:00.435 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B198.5 F195.42 G1 A25.0 B187.5 F195.42 G1 A49.5 B176.4 F195.42 G1 A74.4 B169.9 F195.42 G1 A99.8 B172.4 F195.42 G1 A125.6 B175.0 F195.42 G1 A151.9 B177.6 F195.42 G1 A178.7 B180.3 F195.42 G1 A205.9 B183.0 F195.42 G1 A233.8 B185.8 F195.42 G1 A262.2 B188.6 F195.42 G1 A291.2 B191.5 F195.42 G1 A320.8 B194.5 F195.42 G1 A351.2 B197.5 F195.42 G1 A382.4 B200.7 F195.42 G1 A414.3 B203.9 F195.42 G1 A447.1 B207.1 F195.42 G1 A480.9 B210.5 F195.42 G1 A515.8 B214.0 F195.42 G1 A551.8 B217.6 F195.42 G1 A589.1 B221.3 F195.42 G1 A627.8 B225.2 F195.42 G1 A668.2 B229.2 F195.42 G1 A710.3 B233.4 F195.42 G1 A754.6 B237.8 F195.42 G1 A801.3 B242.5 F195.42 G1 A850.9 B247.5 F195.42 G1 A904.0 B252.8 F195.42 G1 A961.6 B258.5 F195.42 G1 A1024.8 B264.8 F195.42 G94 G1 A1690.0 B322.5 F13000.0 G1 A2050.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
12:34:00.437 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
12:34:01.239 duet1.duet_comm RUN MACRO: dough_spread_air.g
12:34:01.242 duet2.duet_comm GCODE: T0 G1 E34.490890609168446 F232.4188376753507
12:34:01.255 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
12:34:16.719 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
12:34:16.727 duet2.duet_comm GCODE: M106 P3 S0
12:34:32.720 make_crepe_action add_topping started
12:34:32.721 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
12:34:32.768 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
12:34:32.810 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
12:34:32.867 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'}]
12:34:32.870 duet1.duet_comm GCODE: G1 A-38 B195 F6000
12:34:35.008 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
12:34:36.309 duet2.duet_comm GCODE: T1 G1 E21.919637398797594 F112.20240480961925
12:34:36.309 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
12:34:49.001 duet1.duet_comm GCODE: G1 A-32 B219 F6000
12:34:49.432 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
12:34:49.432 duet2.duet_comm GCODE: T1 G1 E3.7400801603206415 F112.20240480961925
12:34:51.568 make_crepe_action fold started
12:34:51.569 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
12:34:51.580 duet1.duet_comm GCODE: G1 B10 F6000
12:34:51.592 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
12:34:51.601 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
12:35:03.438 make_crepe_action fold started
12:35:03.438 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
12:35:03.449 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
12:35:11.006 make_crepe_action push_off started
12:35:11.011 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
12:35:18.149 make_crepe_action wipe_spatula started
12:35:18.152 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 0.0014
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 0.0000015
dm 304
flowrate 0.066
gap 60
offset 13
r_min 27
r0 165
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 Feines Apfelmus, süß und fruchtig – der Klassiker.
display_name Apfelmus
dm 310
flowrate 1.3
max_g_per_rot 0.88
name apple
port 1
price 7
rpm_max 180
tau 175.5

dispense.toppings.blueberry

density 0.016
description Fruchtige Blaubeeren - ein absoluter Must-Have.
display_name Blaubeeren
dm 285
flowrate 1.1
max_g_per_rot 0.88
name blueberry
port 3
price 7
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.016
description Warme, zartschmelzende Schokolade. Einfach unwiderstehlich!
display_name Schokolade
dm 297.5
flowrate 1.1
max_g_per_rot 0.88
name chocolate
port 2
price 7
rpm_max 180
tau 175.5

dispense.toppings.plain

description Ohne irgendwas - nur der crêpe.
display_name Natur
name plain
price 6

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