Video

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Frame Analysis

15:02:30 1:29 observation 15:03:59
1 15:02:52
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2 15:03:14
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3 15:03:36
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:02:30 0.010s
prepare 0% 16:02:30 0.183s
oiling 0% 16:02:33 3.258s
spread_dough 0% 16:02:41 11.256s
add_topping 0% 16:03:06 36.403s
fold 0% 16:03:25 55.111s
push_off 0% 16:03:44 74.542s
wipe_spatula 0% 16:03:51 81.683s

Machine Logs

16:02:30.135 make_crepe_action Executing make_crepe action
16:02:30.135 crepe_log_node Action status update: 1
16:02:30.137 make_crepe_action prepare started
16:02:30.142 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_16-02-30/session.json
16:02:30.142 duet1.duet_comm GCODE: G28 X Y
16:02:30.145 crepe_log_node Action status update: 2
16:02:30.151 duet1.duet_comm GCODE: G92 A0
16:02:30.160 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
16:02:33.394 make_crepe_action oiling started
16:02:33.395 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
16:02:33.397 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
16:02:35.397 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
16:02:35.456 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:02:35.664 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:02:39.215 make_crepe_action wait_until: timeout waiting for idle
16:02:39.217 duet1.duet_comm GCODE: G92 A0
16:02:39.220 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:02:41.391 make_crepe_action spread_dough started
16:02:41.392 make_crepe_action Full Duration: 10.2s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.9s
16:02:41.394 duet2.duet_comm GCODE: M106 P3 S1
16:02:41.396 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
16:02:42.258 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
16:02:42.260 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
16:02:43.057 duet1.duet_comm RUN MACRO: dough_spread_air.g
16:02:43.058 duet2.duet_comm GCODE: T0 G1 E34.490890609168446 F232.4188376753507
16:02:43.066 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
16:02:58.539 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
16:02:58.549 duet2.duet_comm GCODE: M106 P3 S0
16:03:06.539 make_crepe_action add_topping started
16:03:06.540 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
16:03:06.544 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
16:03:06.586 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
16:03:06.631 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'}]
16:03:06.633 duet1.duet_comm GCODE: G1 A-38 B195 F6000
16:03:08.679 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
16:03:09.980 duet2.duet_comm GCODE: T1 G1 E21.919637398797594 F112.20240480961925
16:03:09.980 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
16:03:22.662 duet1.duet_comm GCODE: G1 A-32 B219 F6000
16:03:23.107 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
16:03:23.107 duet2.duet_comm GCODE: T1 G1 E3.7400801603206415 F112.20240480961925
16:03:25.242 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
16:03:25.244 make_crepe_action fold started
16:03:25.257 duet1.duet_comm GCODE: G1 B10 F6000
16:03:25.268 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
16:03:25.277 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
16:03:37.107 make_crepe_action fold started
16:03:37.107 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
16:03:37.117 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
16:03:44.678 make_crepe_action push_off started
16:03:44.680 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
16:03:51.819 make_crepe_action wipe_spatula started
16:03:51.821 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