Video

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Frame Analysis

14:32:04 1:06 observation 14:33:10
1 14:32:20
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2 14:32:37
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3 14:32:53
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:32:04 0.008s
prepare 0% 15:32:04 0.013s
oiling 0% 15:32:07 3.312s
spread_dough 0% 15:32:14 10.734s
cook 0% 15:32:31 27.593s
add_topping 0% 15:32:57 53.596s

Machine Logs

15:32:04.080 make_crepe_action Executing make_crepe action
15:32:04.081 crepe_log_node Action status update: 1
15:32:04.082 make_crepe_action prepare started
15:32:04.084 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-31_15-32-04/session.json
15:32:04.088 crepe_log_node Action status update: 2
15:32:04.102 duet1.duet_comm GCODE: G28 X Y
15:32:04.111 duet1.duet_comm GCODE: G92 A0
15:32:04.119 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:32:07.394 make_crepe_action oiling started
15:32:07.395 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
15:32:07.399 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:32:08.817 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
15:32:08.860 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:32:09.062 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:32:12.617 make_crepe_action wait_until: timeout waiting for idle
15:32:12.621 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:32:12.622 duet1.duet_comm GCODE: G92 A0
15:32:14.816 make_crepe_action spread_dough started
15:32:14.817 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
15:32:14.821 duet2.duet_comm GCODE: M106 P3 S1
15:32:14.824 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
15:32:15.674 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
15:32:15.675 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:32:16.476 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:32:16.476 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
15:32:16.484 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
15:32:31.674 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:32:31.674 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:32:31.674 make_crepe_action cook started
15:32:31.694 duet2.duet_comm GCODE: M106 P3 S0
15:32:57.677 make_crepe_action add_topping started
15:32:57.678 make_crepe_action No topping selected for shape, skipping
15:33:03.258 crepe_log_node Action status update: 3
15:33:09.679 make_crepe_action Cancel requested, stopping execution
15:33:09.814 make_crepe_action duet1 busy on cancel, sending M0

Comments

Parameters

dispense.dough

cook_time 26
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 0.03
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 0.022
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

estimated_time_to_finish 90
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 -14
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 -24.3
z_spread_end -12.3
z_spread_start -13.6
z_thread_pitch 15