Maus Robotics Dashboard

Overview

Machine maus-nilo

Topping apple

Hotplate 200°C

Diameter - mm

Timing

Started 16:39:38 1/26/2026

→

Ended 16:41:10 1/26/2026

92s

Status

Environment

37.9°C Temperature

12.9% Humidity

Video

0:00 / 0:00

Frame Analysis

16:39:38 1:32 observation 16:41:10

1 16:40:01

2 16:40:24

3 16:40:47

Phases

Phase Detail Progress Time Elapsed

init 0% 17:39:38 0.007s

prepare 0% 17:39:38 0.012s

oiling 0% 17:39:41 3.264s

spread_dough 0% 17:39:49 11.275s

add_topping 0% 17:40:18 40.155s

fold 0% 17:40:36 58.820s

push_off 0% 17:40:55 77.849s

wipe_spatula 0% 17:41:03 84.978s

Machine Logs

17:39:38.129 make_crepe_action Executing make_crepe action

17:39:38.129 crepe_log_node Action status update: 1

17:39:38.130 make_crepe_action prepare started

17:39:38.133 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_17-39-38/session.json

17:39:38.134 duet1.duet_comm GCODE: G28 X Y

17:39:38.135 crepe_log_node Action status update: 2

17:39:38.144 duet1.duet_comm GCODE: G92 A0

17:39:38.151 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000

17:39:41.394 make_crepe_action oiling started

17:39:41.395 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

17:39:41.397 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000

17:39:43.402 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

17:39:43.444 duet1.duet_comm RUN MACRO: oiling_optimized.g

17:39:43.646 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1

17:39:47.205 make_crepe_action wait_until: timeout waiting for idle

17:39:47.207 duet1.duet_comm GCODE: G92 A0

17:39:47.208 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0

17:39:49.397 make_crepe_action spread_dough started

17:39:49.398 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s

17:39:49.403 duet2.duet_comm GCODE: M106 P3 S1

17:39:49.413 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000

17:39:50.257 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

17:39:50.261 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112

17:39:51.058 duet1.duet_comm RUN MACRO: dough_spread_air.g

17:39:51.058 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507

17:39:51.065 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236

17:40:06.252 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112

17:40:06.264 duet2.duet_comm GCODE: M106 P3 S0

17:40:18.253 make_crepe_action add_topping started

17:40:18.255 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

17:40:18.259 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

17:40:18.303 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

17:40:18.349 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'}]

17:40:18.351 duet1.duet_comm GCODE: G1 A-38 B195 F6000

17:40:20.393 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446

17:40:21.694 duet2.duet_comm GCODE: T1 G1 E21.919637398797594 F112.20240480961925

17:40:21.694 duet1.duet_comm RUN MACRO: maus-image_maus-body.g

17:40:34.395 duet1.duet_comm GCODE: G1 A-32 B219 F6000

17:40:34.824 duet2.duet_comm GCODE: T1 G1 E3.7400801603206415 F112.20240480961925

17:40:34.827 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g

17:40:36.947 duet1.duet_comm GCODE: G1 B10 F6000

17:40:36.947 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499

17:40:36.947 make_crepe_action fold started

17:40:36.971 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0

17:40:36.982 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

17:40:48.535 make_crepe_action fold started

17:40:48.535 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000

17:40:48.546 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

17:40:55.966 make_crepe_action push_off started

17:40:55.971 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

17:41:03.107 make_crepe_action wipe_spatula started

17:41:03.110 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

Crêpe #610