Video

0:00 / 0:00

Frame Analysis

17:26:43 1:31 observation 17:28:14
1 17:27:05
Loading...
2 17:27:28
Loading...
3 17:27:51
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 18:26:43 0.007s
prepare 0% 18:26:43 0.183s
oiling 0% 18:26:46 3.219s
spread_dough 0% 18:26:54 11.220s
add_topping 0% 18:27:23 40.080s
fold 0% 18:27:41 57.949s
push_off 0% 18:28:00 76.966s
wipe_spatula 0% 18:28:07 84.077s

Machine Logs

18:26:43.171 crepe_log_node Action status update: 1
18:26:43.171 make_crepe_action Executing make_crepe action
18:26:43.174 make_crepe_action prepare started
18:26:43.174 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-26_18-26-43/session.json
18:26:43.176 duet1.duet_comm GCODE: G28 X Y
18:26:43.178 crepe_log_node Action status update: 2
18:26:43.186 duet1.duet_comm GCODE: G92 A0
18:26:43.197 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
18:26:46.391 make_crepe_action oiling started
18:26:46.392 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
18:26:46.394 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
18:26:48.402 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
18:26:48.447 duet1.duet_comm RUN MACRO: oiling_optimized.g
18:26:48.648 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
18:26:52.203 make_crepe_action wait_until: timeout waiting for idle
18:26:52.204 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
18:26:52.206 duet1.duet_comm GCODE: G92 A0
18:26:54.392 make_crepe_action spread_dough started
18:26:54.393 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
18:26:54.395 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
18:26:54.395 duet2.duet_comm GCODE: M106 P3 S1
18:26:55.255 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
18:26:55.256 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
18:26:56.057 duet1.duet_comm RUN MACRO: dough_spread_air.g
18:26:56.057 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
18:26:56.072 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
18:27:11.252 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
18:27:11.260 duet2.duet_comm GCODE: M106 P3 S0
18:27:23.252 make_crepe_action add_topping started
18:27:23.253 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
18:27:23.257 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
18:27:23.324 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
18:27:23.368 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'}]
18:27:23.372 duet1.duet_comm GCODE: G1 A-38 B183 F6000
18:27:25.823 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
18:27:27.124 duet2.duet_comm GCODE: T2 G1 E11.510766539300826 F66.2865731462926
18:27:27.124 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
18:27:38.663 duet1.duet_comm GCODE: G1 A-32 B207 F6000
18:27:39.108 duet2.duet_comm GCODE: T2 G1 E1.9640466117420028 F66.2865731462926
18:27:39.108 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
18:27:41.091 duet1.duet_comm GCODE: G1 B10 F6000
18:27:41.091 make_crepe_action fold started
18:27:41.093 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
18:27:41.120 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
18:27:41.134 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
18:27:52.679 make_crepe_action fold started
18:27:52.679 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
18:27:52.687 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
18:28:00.108 make_crepe_action push_off started
18:28:00.110 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
18:28:07.249 make_crepe_action wipe_spatula started
18:28:07.252 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