Video

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Frame Analysis

15:49:59 1:17 observation 15:51:16
1 15:50:18
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2 15:50:37
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3 15:50:56
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:49:59 0.005s
prepare 0% 16:49:59 0.009s
oiling 0% 16:50:02 3.017s
spread_dough 0% 16:50:10 11.017s
add_topping 0% 16:50:39 39.896s
fold 0% 16:50:51 51.878s
push_off 0% 16:51:08 68.298s

Machine Logs

16:49:59.807 crepe_log_node Action status update: 1
16:49:59.807 make_crepe_action Executing make_crepe action
16:49:59.809 make_crepe_action prepare started
16:49:59.811 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_16-49-59/session.json
16:49:59.812 crepe_log_node Action status update: 2
16:49:59.821 duet1.duet_comm GCODE: G28 X Y
16:49:59.829 duet1.duet_comm GCODE: G92 A0
16:49:59.840 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
16:50:02.826 make_crepe_action oiling started
16:50:02.827 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
16:50:02.828 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
16:50:04.822 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
16:50:04.872 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:50:05.074 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:50:08.628 make_crepe_action wait_until: timeout waiting for idle
16:50:08.629 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:50:08.629 duet1.duet_comm GCODE: G92 A0
16:50:10.825 make_crepe_action spread_dough started
16:50:10.829 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
16:50:10.832 duet2.duet_comm GCODE: M106 P3 S1
16:50:10.836 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
16:50:11.684 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B200.5 F201.16 G1 A24.6 B189.8 F201.16 G1 A48.7 B179.0 F201.16 G1 A73.2 B171.8 F201.16 G1 A98.2 B174.3 F201.16 G1 A123.6 B176.8 F201.16 G1 A149.4 B179.4 F201.16 G1 A175.7 B182.0 F201.16 G1 A202.6 B184.7 F201.16 G1 A229.9 B187.4 F201.16 G1 A257.8 B190.2 F201.16 G1 A286.3 B193.1 F201.16 G1 A315.5 B196.0 F201.16 G1 A345.4 B199.0 F201.16 G1 A375.9 B202.0 F201.16 G1 A407.3 B205.2 F201.16 G1 A439.6 B208.4 F201.16 G1 A472.8 B211.7 F201.16 G1 A507.0 B215.1 F201.16 G1 A542.3 B218.6 F201.16 G1 A578.9 B222.3 F201.16 G1 A616.9 B226.1 F201.16 G1 A656.4 B230.0 F201.16 G1 A697.7 B234.2 F201.16 G1 A741.1 B238.5 F201.16 G1 A786.8 B243.1 F201.16 G1 A835.3 B247.9 F201.16 G1 A887.2 B253.1 F201.16 G1 A943.3 B258.7 F201.16 G1 A1004.8 B264.8 F201.16 G94 G1 A1670.0 B322.5 F13000.0 G1 A2030.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
16:50:11.684 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
16:50:12.485 duet1.duet_comm RUN MACRO: dough_spread_air.g
16:50:12.485 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
16:50:12.495 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
16:50:27.682 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
16:50:27.694 duet2.duet_comm GCODE: M106 P3 S0
16:50:39.681 make_crepe_action add_topping started
16:50:39.682 make_crepe_action No topping selected for shape, skipping
16:50:51.685 make_crepe_action fold started
16:50:51.687 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
16:50:51.699 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 F3500 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
16:51:00.683 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
16:51:00.684 make_crepe_action fold started
16:51:00.693 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 F3500 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
16:51:08.107 make_crepe_action push_off started
16:51:08.108 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 A28 F20000 G1 Y-74 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
16:51:13.775 crepe_log_node Action status update: 3
16:51:15.251 make_crepe_action Cancel requested, stopping execution

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 158
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