Video

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Frame Analysis

14:56:05 1:28 observation 14:57:33
1 14:56:27
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2 14:56:49
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3 14:57:11
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:56:05 0.005s
prepare 0% 15:56:05 0.009s
oiling 0% 15:56:09 3.320s
spread_dough 0% 15:56:17 11.328s
add_topping 0% 15:56:42 36.454s
fold 0% 15:56:59 53.877s
push_off 0% 15:57:18 73.152s
wipe_spatula 0% 15:57:26 80.299s

Machine Logs

15:56:05.811 make_crepe_action Executing make_crepe action
15:56:05.811 crepe_log_node Action status update: 1
15:56:05.812 make_crepe_action prepare started
15:56:05.813 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_15-56-05/session.json
15:56:05.815 crepe_log_node Action status update: 2
15:56:05.822 duet1.duet_comm GCODE: G28 X Y
15:56:05.830 duet1.duet_comm GCODE: G92 A0
15:56:05.837 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:56:09.109 make_crepe_action oiling started
15:56:09.110 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
15:56:09.112 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:56:11.108 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
15:56:11.153 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:56:11.354 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:56:14.909 make_crepe_action wait_until: timeout waiting for idle
15:56:14.911 duet1.duet_comm GCODE: G92 A0
15:56:14.912 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:56:17.108 make_crepe_action spread_dough started
15:56:17.109 make_crepe_action Full Duration: 10.2s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.9s
15:56:17.111 duet2.duet_comm GCODE: M106 P3 S1
15:56:17.111 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
15:56:17.965 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
15:56:17.965 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:56:18.766 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:56:18.766 duet2.duet_comm GCODE: T0 G1 E34.490890609168446 F232.4188376753507
15:56:18.776 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
15:56:34.256 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:56:34.266 duet2.duet_comm GCODE: M106 P3 S0
15:56:42.257 make_crepe_action add_topping started
15:56:42.260 make_crepe_action Topping: chocolate, Port: 2, Density: 0.016, Flowrate: 0.9, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.017777777777777778
15:56:42.269 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B183 F337.50 G1 A-33 B187 F337.50 G1 A-28 B193 F337.50 G1 A-24 B199 F337.50 G1 A-19 B204 F337.50 G1 A-13 B203 F337.50 G1 A-8 B208 F337.50 G1 A-5 B216 F337.50 G1 A-7 B226 F337.50 G1 A-13 B234 F337.50 G1 A-8 B233 F337.50 G1 A-0 B233 F337.50 G1 A8 B237 F337.50 G1 A17 B240 F337.50 G1 A27 B244 F337.50 G1 A37 B247 F337.50 G1 A49 B250 F337.50 G1 A61 B252 F337.50 G1 A71 B251 F337.50 G1 A73 B242 F337.50 G1 A70 B232 F337.50 G1 A64 B224 F337.50 G1 A57 B221 F337.50 G1 A50 B221 F337.50 G1 A42 B226 F337.50 G1 A39 B234 F337.50 G1 A33 B237 F337.50 G1 A35 B228 F337.50 G1 A39 B220 F337.50 G1 A47 B214 F337.50 G1 A53 B212 F337.50 G1 A60 B213 F337.50 G1 A66 B216 F337.50 G1 A72 B222 F337.50 G1 A77 B229 F337.50 G1 A81 B238 F337.50 G1 A81 B249 F337.50 G1 A79 B259 F337.50 G1 A75 B269 F337.50 G1 A67 B279 F337.50 G1 A43 B288 F337.50 G1 A-41 B292 F337.50 G1 A-74 B284 F337.50 G1 A-81 B274 F337.50 G1 A-84 B265 F337.50 G1 A-85 B255 F337.50 G1 A-86 B246 F337.50 G1 A-82 B236 F337.50 G1 A-74 B240 F337.50 G1 A-65 B251 F337.50 G1 A-60 B254 F337.50 G1 A-52 B246 F337.50 G1 A-47 B236 F337.50 G1 A-44 B226 F337.50 G1 A-43 B216 F337.50 G1 A-42 B206 F337.50 G1 A-42 B197 F337.50 G1 A-42 B186 F337.50 G1 A-38 B183 F337.50 G94
15:56:42.311 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B207 F337.50 G1 A-30 B200 F337.50 G1 A-32 B206 F337.50 G1 A-30 B200 F337.50 G1 A-32 B206 F337.50 G94
15:56:42.354 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 F337.50\nG1 A-33 B187 F337.50\nG1 A-28 B193 F337.50\nG1 A-24 B199 F337.50\nG1 A-19 B204 F337.50\nG1 A-13 B203 F337.50\nG1 A-8 B208 F337.50\nG1 A-5 B216 F337.50\nG1 A-7 B226 F337.50\nG1 A-13 B234 F337.50\nG1 A-8 B233 F337.50\nG1 A-0 B233 F337.50\nG1 A8 B237 F337.50\nG1 A17 B240 F337.50\nG1 A27 B244 F337.50\nG1 A37 B247 F337.50\nG1 A49 B250 F337.50\nG1 A61 B252 F337.50\nG1 A71 B251 F337.50\nG1 A73 B242 F337.50\nG1 A70 B232 F337.50\nG1 A64 B224 F337.50\nG1 A57 B221 F337.50\nG1 A50 B221 F337.50\nG1 A42 B226 F337.50\nG1 A39 B234 F337.50\nG1 A33 B237 F337.50\nG1 A35 B228 F337.50\nG1 A39 B220 F337.50\nG1 A47 B214 F337.50\nG1 A53 B212 F337.50\nG1 A60 B213 F337.50\nG1 A66 B216 F337.50\nG1 A72 B222 F337.50\nG1 A77 B229 F337.50\nG1 A81 B238 F337.50\nG1 A81 B249 F337.50\nG1 A79 B259 F337.50\nG1 A75 B269 F337.50\nG1 A67 B279 F337.50\nG1 A43 B288 F337.50\nG1 A-41 B292 F337.50\nG1 A-74 B284 F337.50\nG1 A-81 B274 F337.50\nG1 A-84 B265 F337.50\nG1 A-85 B255 F337.50\nG1 A-86 B246 F337.50\nG1 A-82 B236 F337.50\nG1 A-74 B240 F337.50\nG1 A-65 B251 F337.50\nG1 A-60 B254 F337.50\nG1 A-52 B246 F337.50\nG1 A-47 B236 F337.50\nG1 A-44 B226 F337.50\nG1 A-43 B216 F337.50\nG1 A-42 B206 F337.50\nG1 A-42 B197 F337.50\nG1 A-42 B186 F337.50\nG1 A-38 B183 F337.50\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 F337.50\nG1 A-30 B200 F337.50\nG1 A-32 B206 F337.50\nG1 A-30 B200 F337.50\nG1 A-32 B206 F337.50\nG94'}]
15:56:42.356 duet1.duet_comm GCODE: G1 A-38 B183 F6000
15:56:44.391 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
15:56:45.692 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
15:56:45.692 duet2.duet_comm GCODE: T2 G1 E11.510766539300826 F66.2865731462926
15:56:57.232 duet1.duet_comm GCODE: G1 A-32 B207 F6000
15:56:57.678 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
15:56:57.678 duet2.duet_comm GCODE: T2 G1 E1.9640466117420028 F66.2865731462926
15:56:59.664 duet1.duet_comm GCODE: G1 B10 F6000
15:56:59.664 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
15:56:59.666 make_crepe_action fold started
15:56:59.695 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:56:59.707 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
15:57:11.399 make_crepe_action fold started
15:57:11.400 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:57:11.415 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
15:57:18.964 make_crepe_action push_off started
15:57:18.968 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
15:57:26.110 make_crepe_action wipe_spatula started
15:57:26.117 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"]
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.chocolate

density 0.016
description Warme, zartschmelzende Schokolade. Einfach unwiderstehlich!
display_name Schokolade
dm 297.5
flowrate 0.9
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