Video

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Frame Analysis

13:45:28 1:08 observation 13:46:36
1 13:45:45
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2 13:46:02
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3 13:46:19
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:45:28 0.008s
prepare 0% 14:45:28 0.013s
oiling 0% 14:45:31 3.274s
spread_dough 0% 14:45:39 11.276s
add_topping 0% 14:46:04 36.428s
fold 0% 14:46:04 36.431s
push_off 0% 14:46:21 53.278s
wipe_spatula 0% 14:46:28 60.419s

Machine Logs

14:45:28.543 make_crepe_action Executing make_crepe action
14:45:28.543 crepe_log_node Action status update: 1
14:45:28.544 make_crepe_action prepare started
14:45:28.546 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_14-45-28/session.json
14:45:28.549 duet1.duet_comm GCODE: G28 X Y
14:45:28.549 crepe_log_node Action status update: 2
14:45:28.560 duet1.duet_comm GCODE: G92 A0
14:45:28.569 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:45:31.818 make_crepe_action oiling started
14:45:31.819 make_crepe_action Oiling - Full Duration: 2.8s; Speed: 550.0 mm/s; r_critical: 145.4mm; r_stop: 145.4mm; duration_stop: 0.7s
14:45:31.822 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:45:33.821 duet1.duet_comm UPLOAD MACRO: oiling_optimized.g G93 G1 A4.4 B134.5 F2359.50 G1 A9.1 B135.3 F2359.50 G1 A13.9 B136.1 F2359.50 G1 A18.7 B136.9 F2359.50 G1 A23.5 B137.7 F2359.50 G1 A28.3 B138.5 F2359.50 G1 A33.2 B139.3 F2359.50 G1 A38.1 B140.1 F2359.50 G1 A43.0 B140.9 F2359.50 G1 A47.9 B141.7 F2359.50 G1 A52.9 B142.6 F2359.50 G1 A57.9 B143.4 F2359.50 G1 A62.9 B144.2 F2359.50 G1 A67.9 B145.1 F2359.50 G1 A73.0 B145.9 F2359.50 G1 A78.1 B146.8 F2359.50 G1 A83.2 B147.6 F2359.50 G1 A88.3 B148.5 F2359.50 G1 A93.5 B149.3 F2359.50 G1 A98.7 B150.2 F2359.50 G1 A103.9 B151.1 F2359.50 G1 A109.2 B151.9 F2359.50 G1 A114.5 B152.8 F2359.50 G1 A119.8 B153.7 F2359.50 G1 A125.2 B154.6 F2359.50 G1 A130.6 B155.5 F2359.50 G1 A136.0 B156.4 F2359.50 G1 A141.5 B157.3 F2359.50 G1 A146.9 B158.2 F2359.50 G1 A152.5 B159.1 F2359.50 G94 G1 A879.6 B280.3 F13000.0 G1 A1048.8 F13000.0
14:45:33.865 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:45:34.066 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:45:37.621 make_crepe_action wait_until: timeout waiting for idle
14:45:37.624 duet1.duet_comm GCODE: G92 A0
14:45:37.624 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:45:39.821 make_crepe_action spread_dough started
14:45:39.822 make_crepe_action Full Duration: 10.2s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.9s
14:45:39.824 duet2.duet_comm GCODE: M106 P3 S1
14:45:39.827 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
14:45:40.677 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
14:45:40.677 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:45:41.478 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:45:41.481 duet2.duet_comm GCODE: T0 G1 E34.490890609168446 F232.4188376753507
14:45:41.490 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
14:45:56.974 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:45:56.986 duet2.duet_comm GCODE: M106 P3 S0
14:46:04.972 make_crepe_action add_topping started
14:46:04.972 make_crepe_action No topping selected for shape, skipping
14:46:04.975 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
14:46:04.976 make_crepe_action fold started
14:46:04.984 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
14:46:14.257 make_crepe_action fold started
14:46:14.257 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
14:46:14.270 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
14:46:21.822 make_crepe_action push_off started
14:46:21.827 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
14:46:28.963 make_crepe_action wipe_spatula started
14:46:28.966 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 0.000002
dm 304
flowrate 0.066
gap 60
offset 13
r_min 27
r0 170
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