Video

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Frame Analysis

16:29:44 1:50 observation 16:31:34
1 16:30:11
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2 16:30:39
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3 16:31:06
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:29:44 0.006s
prepare 0% 17:29:44 0.010s
oiling 0% 17:29:46 2.925s
spread_dough 0% 17:29:54 10.927s
cook 0% 17:30:11 27.784s
add_topping 0% 17:30:37 53.785s
fold 0% 17:30:59 75.526s
push_off 0% 17:31:19 95.089s
wipe_spatula 0% 17:31:27 103.072s

Machine Logs

17:29:44.031 make_crepe_action Executing make_crepe action
17:29:44.031 crepe_log_node Action status update: 1
17:29:44.033 make_crepe_action prepare started
17:29:44.034 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-31_17-29-44/session.json
17:29:44.036 crepe_log_node Action status update: 2
17:29:44.037 duet1.duet_comm GCODE: G28 X Y
17:29:44.046 duet1.duet_comm GCODE: G92 A0
17:29:44.054 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
17:29:46.957 make_crepe_action oiling started
17:29:46.958 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
17:29:46.961 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
17:29:48.958 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
17:29:49.001 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:29:49.203 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:29:52.758 make_crepe_action wait_until: timeout waiting for idle
17:29:52.760 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:29:52.762 duet1.duet_comm GCODE: G92 A0
17:29:54.959 make_crepe_action spread_dough started
17:29:54.960 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
17:29:54.963 duet2.duet_comm GCODE: M106 P3 S1
17:29:54.969 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
17:29:55.817 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
17:29:55.817 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
17:29:56.618 duet1.duet_comm RUN MACRO: dough_spread_air.g
17:29:56.619 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
17:29:56.634 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
17:30:11.816 make_crepe_action cook started
17:30:11.816 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
17:30:11.816 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
17:30:11.826 duet2.duet_comm GCODE: M106 P3 S0
17:30:37.817 make_crepe_action add_topping started
17:30:37.818 make_crepe_action Topping: apple, Port: 1, Density: 0.03, Flowrate: 1.3, DM: 310.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.023076923076923075
17:30:37.822 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B195 F260.00 G1 A-33 B200 F260.00 G1 A-29 B206 F260.00 G1 A-24 B212 F260.00 G1 A-19 B216 F260.00 G1 A-13 B216 F260.00 G1 A-8 B220 F260.00 G1 A-5 B228 F260.00 G1 A-7 B238 F260.00 G1 A-12 B246 F260.00 G1 A-9 B246 F260.00 G1 A-1 B245 F260.00 G1 A8 B249 F260.00 G1 A16 B253 F260.00 G1 A26 B256 F260.00 G1 A36 B259 F260.00 G1 A47 B262 F260.00 G1 A59 B264 F260.00 G1 A70 B265 F260.00 G1 A71 B257 F260.00 G1 A70 B246 F260.00 G1 A68 B235 F260.00 G1 A65 B227 F260.00 G1 A60 B221 F260.00 G1 A54 B215 F260.00 G1 A48 B209 F260.00 G1 A44 B206 F260.00 G1 A38 B207 F260.00 G1 A33 B209 F260.00 G1 A29 B216 F260.00 G1 A27 B214 F260.00 G1 A31 B206 F260.00 G1 A36 B202 F260.00 G1 A41 B199 F260.00 G1 A45 B200 F260.00 G1 A49 B203 F260.00 G1 A54 B207 F260.00 G1 A59 B212 F260.00 G1 A64 B218 F260.00 G1 A70 B224 F260.00 G1 A75 B232 F260.00 G1 A79 B240 F260.00 G1 A81 B251 F260.00 G1 A81 B263 F260.00 G1 A78 B273 F260.00 G1 A74 B283 F260.00 G1 A65 B292 F260.00 G1 A37 B301 F260.00 G1 A-48 B304 F260.00 G1 A-75 B296 F260.00 G1 A-81 B286 F260.00 G1 A-84 B276 F260.00 G1 A-85 B266 F260.00 G1 A-86 B258 F260.00 G1 A-81 B248 F260.00 G1 A-74 B253 F260.00 G1 A-65 B264 F260.00 G1 A-59 B266 F260.00 G1 A-52 B258 F260.00 G1 A-47 B248 F260.00 G1 A-44 B239 F260.00 G1 A-43 B229 F260.00 G1 A-42 B219 F260.00 G1 A-42 B209 F260.00 G1 A-42 B199 F260.00 G1 A-38 B195 F260.00 G94
17:30:37.877 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B219 F260.00 G1 A-30 B213 F260.00 G1 A-32 B219 F260.00 G1 A-30 B212 F260.00 G1 A-32 B218 F260.00 G94
17:30:37.920 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 652.63, 'start_coord': {'d': 195.492, 'rot': -37.626}, 'g_code': 'G93\nG1 A-38 B195 F260.00\nG1 A-33 B200 F260.00\nG1 A-29 B206 F260.00\nG1 A-24 B212 F260.00\nG1 A-19 B216 F260.00\nG1 A-13 B216 F260.00\nG1 A-8 B220 F260.00\nG1 A-5 B228 F260.00\nG1 A-7 B238 F260.00\nG1 A-12 B246 F260.00\nG1 A-9 B246 F260.00\nG1 A-1 B245 F260.00\nG1 A8 B249 F260.00\nG1 A16 B253 F260.00\nG1 A26 B256 F260.00\nG1 A36 B259 F260.00\nG1 A47 B262 F260.00\nG1 A59 B264 F260.00\nG1 A70 B265 F260.00\nG1 A71 B257 F260.00\nG1 A70 B246 F260.00\nG1 A68 B235 F260.00\nG1 A65 B227 F260.00\nG1 A60 B221 F260.00\nG1 A54 B215 F260.00\nG1 A48 B209 F260.00\nG1 A44 B206 F260.00\nG1 A38 B207 F260.00\nG1 A33 B209 F260.00\nG1 A29 B216 F260.00\nG1 A27 B214 F260.00\nG1 A31 B206 F260.00\nG1 A36 B202 F260.00\nG1 A41 B199 F260.00\nG1 A45 B200 F260.00\nG1 A49 B203 F260.00\nG1 A54 B207 F260.00\nG1 A59 B212 F260.00\nG1 A64 B218 F260.00\nG1 A70 B224 F260.00\nG1 A75 B232 F260.00\nG1 A79 B240 F260.00\nG1 A81 B251 F260.00\nG1 A81 B263 F260.00\nG1 A78 B273 F260.00\nG1 A74 B283 F260.00\nG1 A65 B292 F260.00\nG1 A37 B301 F260.00\nG1 A-48 B304 F260.00\nG1 A-75 B296 F260.00\nG1 A-81 B286 F260.00\nG1 A-84 B276 F260.00\nG1 A-85 B266 F260.00\nG1 A-86 B258 F260.00\nG1 A-81 B248 F260.00\nG1 A-74 B253 F260.00\nG1 A-65 B264 F260.00\nG1 A-59 B266 F260.00\nG1 A-52 B258 F260.00\nG1 A-47 B248 F260.00\nG1 A-44 B239 F260.00\nG1 A-43 B229 F260.00\nG1 A-42 B219 F260.00\nG1 A-42 B209 F260.00\nG1 A-42 B199 F260.00\nG1 A-38 B195 F260.00\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 F260.00\nG1 A-30 B213 F260.00\nG1 A-32 B219 F260.00\nG1 A-30 B212 F260.00\nG1 A-32 B218 F260.00\nG94'}]
17:30:37.922 duet1.duet_comm GCODE: G1 A-38 B195 F6000
17:30:40.102 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
17:30:41.403 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
17:30:41.410 duet2.duet_comm GCODE: T1 G1 E28.16409825034685 F112.20240480961925
17:30:57.408 duet1.duet_comm GCODE: G1 A-32 B219 F6000
17:30:57.959 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
17:30:57.959 duet2.duet_comm GCODE: T1 G1 E2.5892862648373676 F112.20240480961925
17:30:59.558 duet1.duet_comm GCODE: G1 B10 F6000
17:30:59.558 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
17:30:59.561 make_crepe_action fold started
17:30:59.569 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
17:30:59.579 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
17:31:11.244 make_crepe_action fold started
17:31:11.244 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
17:31:11.256 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
17:31:19.101 make_crepe_action push_off started
17:31:19.103 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
17:31:27.102 make_crepe_action wipe_spatula started
17:31:27.102 duet1.duet_comm GCODE: G91 G1 U3 G90
17:31:27.114 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