Video

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Frame Analysis

16:39:52 1:37 observation 16:41:29
1 16:40:16
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2 16:40:40
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3 16:41:04
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:39:52 0.006s
prepare 0% 17:39:52 0.183s
oiling 0% 17:39:55 3.339s
spread_dough 0% 17:40:03 11.317s
cook 0% 17:40:20 28.175s
add_topping 0% 17:40:46 54.175s
fold 0% 17:40:58 66.207s
push_off 0% 17:41:14 82.312s
wipe_spatula 0% 17:41:22 90.024s

Machine Logs

17:39:52.217 make_crepe_action Executing make_crepe action
17:39:52.217 crepe_log_node Action status update: 1
17:39:52.218 make_crepe_action prepare started
17:39:52.220 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-31_17-39-52/session.json
17:39:52.222 crepe_log_node Action status update: 2
17:39:52.224 duet1.duet_comm GCODE: G28 X Y
17:39:52.247 duet1.duet_comm GCODE: G92 A0
17:39:52.261 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
17:39:55.530 make_crepe_action oiling started
17:39:55.531 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
17:39:55.534 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
17:39:57.529 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
17:39:57.572 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:39:57.773 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:40:01.330 make_crepe_action wait_until: timeout waiting for idle
17:40:01.332 duet1.duet_comm GCODE: G92 A0
17:40:01.335 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:40:03.534 make_crepe_action spread_dough started
17:40:03.535 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
17:40:03.539 duet2.duet_comm GCODE: M106 P3 S1
17:40:03.540 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
17:40:04.389 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
17:40:04.389 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
17:40:05.190 duet1.duet_comm RUN MACRO: dough_spread_air.g
17:40:05.190 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
17:40:05.198 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
17:40:20.391 make_crepe_action cook started
17:40:20.391 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
17:40:20.391 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
17:40:20.411 duet2.duet_comm GCODE: M106 P3 S0
17:40:46.393 make_crepe_action add_topping started
17:40:46.395 make_crepe_action No topping selected for shape, skipping
17:40:58.397 make_crepe_action fold started
17:40:58.397 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
17:40:58.409 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
17:41:07.385 make_crepe_action fold started
17:41:07.385 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
17:41:07.398 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
17:41:14.530 make_crepe_action push_off started
17:41:14.534 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
17:41:22.242 make_crepe_action wipe_spatula started
17:41:22.242 duet1.duet_comm GCODE: G91 G1 U3 G90
17:41:22.250 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