Video

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Frame Analysis

16:27:46 1:23 observation 16:29:09
1 16:28:06
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2 16:28:27
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3 16:28:48
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:27:46 0.007s
prepare 0% 17:27:46 0.011s
oiling 0% 17:27:50 3.339s
spread_dough 0% 17:27:57 10.772s
add_topping 0% 17:28:26 39.632s
fold 0% 17:28:38 51.643s
push_off 0% 17:28:54 68.054s
wipe_spatula 0% 17:29:01 75.200s

Machine Logs

17:27:46.765 make_crepe_action Executing make_crepe action
17:27:46.765 crepe_log_node Action status update: 1
17:27:46.766 make_crepe_action prepare started
17:27:46.768 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_17-27-46/session.json
17:27:46.771 crepe_log_node Action status update: 2
17:27:46.773 duet1.duet_comm GCODE: G28 X Y
17:27:46.782 duet1.duet_comm GCODE: G92 A0
17:27:46.791 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
17:27:50.105 make_crepe_action oiling started
17:27:50.106 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
17:27:50.109 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
17:27:51.535 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
17:27:51.601 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:27:51.803 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:27:55.357 make_crepe_action wait_until: timeout waiting for idle
17:27:55.361 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:27:55.365 duet1.duet_comm GCODE: G92 A0
17:27:57.537 make_crepe_action spread_dough started
17:27:57.538 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
17:27:57.540 duet2.duet_comm GCODE: M106 P3 S1
17:27:57.544 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
17:27:58.395 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
17:27:58.396 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
17:27:59.196 duet1.duet_comm RUN MACRO: dough_spread_air.g
17:27:59.197 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
17:27:59.205 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
17:28:14.396 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
17:28:14.407 duet2.duet_comm GCODE: M106 P3 S0
17:28:26.397 make_crepe_action add_topping started
17:28:26.399 make_crepe_action No topping selected for shape, skipping
17:28:38.402 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
17:28:38.402 make_crepe_action fold started
17:28:38.416 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
17:28:47.392 make_crepe_action fold started
17:28:47.392 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
17:28:47.403 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
17:28:54.819 make_crepe_action push_off started
17:28:54.823 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
17:29:01.965 make_crepe_action wipe_spatula started
17:29:01.969 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 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