Video

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Frame Analysis

19:44:12 1:51 observation 19:46:03
1 19:44:39
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2 19:45:07
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3 19:45:35
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:44:12 0.010s
prepare 0% 20:44:12 0.012s
oiling 0% 20:44:15 3.234s
spread_dough 0% 20:44:23 11.238s
cook 0% 20:44:40 28.093s
add_topping 0% 20:45:06 54.096s
fold 0% 20:45:28 76.583s
push_off 0% 20:45:47 95.538s
wipe_spatula 0% 20:45:55 103.234s

Machine Logs

20:44:12.100 make_crepe_action Executing make_crepe action
20:44:12.100 crepe_log_node Action status update: 1
20:44:12.101 make_crepe_action prepare started
20:44:12.106 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-02-05_20-44-12/session.json
20:44:12.106 duet1.duet_comm GCODE: G28 X Y
20:44:12.109 crepe_log_node Action status update: 2
20:44:12.116 duet1.duet_comm GCODE: G92 A0
20:44:12.124 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
20:44:15.335 make_crepe_action oiling started
20:44:15.336 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
20:44:15.340 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
20:44:17.336 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
20:44:17.380 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:44:17.581 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:44:21.137 make_crepe_action wait_until: timeout waiting for idle
20:44:21.140 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:44:21.142 duet1.duet_comm GCODE: G92 A0
20:44:23.339 make_crepe_action spread_dough started
20:44:23.340 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
20:44:23.342 duet2.duet_comm GCODE: M106 P3 S0.97
20:44:23.345 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
20:44:24.194 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B200.5 F201.16 G1 A24.7 B193.0 F201.16 G1 A48.8 B185.5 F201.16 G1 A73.3 B178.0 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
20:44:24.194 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
20:44:24.995 duet1.duet_comm RUN MACRO: dough_spread_air.g
20:44:24.995 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
20:44:25.004 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
20:44:40.193 make_crepe_action cook started
20:44:40.193 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
20:44:40.193 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
20:44:40.206 duet2.duet_comm GCODE: M106 P3 S0
20:45:06.196 make_crepe_action add_topping started
20:45:06.197 make_crepe_action Topping: chocolate, Port: 2, Density: 0.022, Flowrate: 0.9, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.024444444444444442
20:45:06.206 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B183 F245.45 G1 A-33 B187 F245.45 G1 A-29 B193 F245.45 G1 A-24 B199 F245.45 G1 A-19 B204 F245.45 G1 A-13 B203 F245.45 G1 A-8 B207 F245.45 G1 A-5 B216 F245.45 G1 A-7 B226 F245.45 G1 A-12 B233 F245.45 G1 A-9 B234 F245.45 G1 A-1 B233 F245.45 G1 A8 B237 F245.45 G1 A16 B240 F245.45 G1 A26 B244 F245.45 G1 A36 B247 F245.45 G1 A47 B250 F245.45 G1 A59 B252 F245.45 G1 A70 B252 F245.45 G1 A71 B244 F245.45 G1 A70 B233 F245.45 G1 A68 B222 F245.45 G1 A65 B214 F245.45 G1 A60 B208 F245.45 G1 A54 B202 F245.45 G1 A48 B196 F245.45 G1 A44 B193 F245.45 G1 A38 B194 F245.45 G1 A33 B197 F245.45 G1 A29 B204 F245.45 G1 A27 B201 F245.45 G1 A31 B193 F245.45 G1 A36 B189 F245.45 G1 A41 B187 F245.45 G1 A45 B187 F245.45 G1 A49 B190 F245.45 G1 A54 B194 F245.45 G1 A59 B199 F245.45 G1 A64 B205 F245.45 G1 A70 B212 F245.45 G1 A75 B219 F245.45 G1 A79 B228 F245.45 G1 A81 B239 F245.45 G1 A81 B250 F245.45 G1 A78 B260 F245.45 G1 A74 B270 F245.45 G1 A65 B280 F245.45 G1 A37 B289 F245.45 G1 A-48 B291 F245.45 G1 A-75 B283 F245.45 G1 A-81 B274 F245.45 G1 A-84 B264 F245.45 G1 A-85 B254 F245.45 G1 A-86 B246 F245.45 G1 A-81 B236 F245.45 G1 A-74 B241 F245.45 G1 A-65 B251 F245.45 G1 A-59 B253 F245.45 G1 A-52 B245 F245.45 G1 A-47 B236 F245.45 G1 A-44 B226 F245.45 G1 A-43 B216 F245.45 G1 A-42 B206 F245.45 G1 A-42 B197 F245.45 G1 A-42 B186 F245.45 G1 A-38 B183 F245.45 G94
20:45:06.254 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B207 F245.45 G1 A-30 B200 F245.45 G1 A-32 B206 F245.45 G1 A-30 B200 F245.45 G1 A-32 B206 F245.45 G94
20:45:06.402 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 652.63, 'start_coord': {'d': 182.992, 'rot': -37.626}, 'g_code': 'G93\nG1 A-38 B183 F245.45\nG1 A-33 B187 F245.45\nG1 A-29 B193 F245.45\nG1 A-24 B199 F245.45\nG1 A-19 B204 F245.45\nG1 A-13 B203 F245.45\nG1 A-8 B207 F245.45\nG1 A-5 B216 F245.45\nG1 A-7 B226 F245.45\nG1 A-12 B233 F245.45\nG1 A-9 B234 F245.45\nG1 A-1 B233 F245.45\nG1 A8 B237 F245.45\nG1 A16 B240 F245.45\nG1 A26 B244 F245.45\nG1 A36 B247 F245.45\nG1 A47 B250 F245.45\nG1 A59 B252 F245.45\nG1 A70 B252 F245.45\nG1 A71 B244 F245.45\nG1 A70 B233 F245.45\nG1 A68 B222 F245.45\nG1 A65 B214 F245.45\nG1 A60 B208 F245.45\nG1 A54 B202 F245.45\nG1 A48 B196 F245.45\nG1 A44 B193 F245.45\nG1 A38 B194 F245.45\nG1 A33 B197 F245.45\nG1 A29 B204 F245.45\nG1 A27 B201 F245.45\nG1 A31 B193 F245.45\nG1 A36 B189 F245.45\nG1 A41 B187 F245.45\nG1 A45 B187 F245.45\nG1 A49 B190 F245.45\nG1 A54 B194 F245.45\nG1 A59 B199 F245.45\nG1 A64 B205 F245.45\nG1 A70 B212 F245.45\nG1 A75 B219 F245.45\nG1 A79 B228 F245.45\nG1 A81 B239 F245.45\nG1 A81 B250 F245.45\nG1 A78 B260 F245.45\nG1 A74 B270 F245.45\nG1 A65 B280 F245.45\nG1 A37 B289 F245.45\nG1 A-48 B291 F245.45\nG1 A-75 B283 F245.45\nG1 A-81 B274 F245.45\nG1 A-84 B264 F245.45\nG1 A-85 B254 F245.45\nG1 A-86 B246 F245.45\nG1 A-81 B236 F245.45\nG1 A-74 B241 F245.45\nG1 A-65 B251 F245.45\nG1 A-59 B253 F245.45\nG1 A-52 B245 F245.45\nG1 A-47 B236 F245.45\nG1 A-44 B226 F245.45\nG1 A-43 B216 F245.45\nG1 A-42 B206 F245.45\nG1 A-42 B197 F245.45\nG1 A-42 B186 F245.45\nG1 A-38 B183 F245.45\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 F245.45\nG1 A-30 B200 F245.45\nG1 A-32 B206 F245.45\nG1 A-30 B200 F245.45\nG1 A-32 B206 F245.45\nG94'}]
20:45:06.404 duet1.duet_comm GCODE: G1 A-38 B183 F6000
20:45:08.335 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
20:45:09.636 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
20:45:09.636 duet2.duet_comm GCODE: T2 G1 E17.62469142804127 F66.2865731462926
20:45:26.397 duet1.duet_comm GCODE: G1 A-32 B207 F6000
20:45:26.911 duet2.duet_comm GCODE: T2 G1 E1.6203384546871524 F66.2865731462926
20:45:26.915 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
20:45:28.684 duet1.duet_comm GCODE: G1 B10 F6000
20:45:28.684 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
20:45:28.685 make_crepe_action fold started
20:45:28.696 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
20:45:28.708 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
20:45:40.192 make_crepe_action fold started
20:45:40.192 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
20:45:40.203 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
20:45:47.623 make_crepe_action push_off started
20:45:47.630 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
20:45:55.334 make_crepe_action wipe_spatula started
20:45:55.340 duet1.duet_comm GCODE: G91 G1 U3 G90
20:45:55.351 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