Video

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Frame Analysis

14:36:31 1:38 observation 14:38:09
1 14:36:55
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2 14:37:20
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3 14:37:44
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:36:31 0.008s
prepare 0% 15:36:31 0.009s
oiling 0% 15:36:34 3.321s
spread_dough 0% 15:36:42 10.756s
cook 0% 15:36:59 27.609s
add_topping 0% 15:37:25 53.612s
fold 0% 15:37:37 65.615s
push_off 0% 15:37:53 82.036s
wipe_spatula 0% 15:38:01 89.749s

Machine Logs

15:36:31.636 make_crepe_action Executing make_crepe action
15:36:31.636 crepe_log_node Action status update: 1
15:36:31.638 make_crepe_action prepare started
15:36:31.639 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-31_15-36-31/session.json
15:36:31.640 duet1.duet_comm GCODE: G28 X Y
15:36:31.642 crepe_log_node Action status update: 2
15:36:31.649 duet1.duet_comm GCODE: G92 A0
15:36:31.671 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:36:34.958 make_crepe_action oiling started
15:36:34.959 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
15:36:34.963 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:36:36.389 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
15:36:36.432 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:36:36.633 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:36:40.188 make_crepe_action wait_until: timeout waiting for idle
15:36:40.192 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:36:40.193 duet1.duet_comm GCODE: G92 A0
15:36:42.393 make_crepe_action spread_dough started
15:36:42.394 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
15:36:42.398 duet2.duet_comm GCODE: M106 P3 S1
15:36:42.399 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
15:36:43.249 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
15:36:43.251 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:36:44.050 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:36:44.050 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
15:36:44.058 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
15:36:59.246 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:36:59.246 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:36:59.246 make_crepe_action cook started
15:36:59.263 duet2.duet_comm GCODE: M106 P3 S0
15:37:25.249 make_crepe_action add_topping started
15:37:25.250 make_crepe_action No topping selected for shape, skipping
15:37:37.252 make_crepe_action fold started
15:37:37.252 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:37:37.264 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-24.3 F20000 G1 Y-50 Z-22.675 A8 F3500 G1 X-140 Y-47 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 A0 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
15:37:46.243 make_crepe_action fold started
15:37:46.245 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:37:46.256 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-24.3 F20000 G1 Y-50 Z-22.675 A8 F3500 G1 X-140 Y-47 Z-8 F15000 G1 X-210 Y-53 Z20 F15000 G1 X-720 Y-83 Z50 F15000 A0 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
15:37:53.673 make_crepe_action push_off started
15:37:53.677 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-24.3 A90 F20000 G1 Z-20.675 Y-50 F3000 G1 Z-2.6750000000000007 Y-53 F4000 G1 Z37.325 Y-112.0 F4000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
15:38:01.386 duet1.duet_comm GCODE: G91 G1 U3 G90
15:38:01.386 make_crepe_action wipe_spatula started
15:38:01.397 duet1.duet_comm GCODE: G1 X0 Y0 Z0 C340 F20000 G1 Z-41 G1 C5 G1 Z0 G1 X180 C340 G1 Z-41 G1 C5 G1 X0 Y0 Z0 B10 C5 F20000

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