Video

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Frame Analysis

18:29:18 1:49 observation 18:31:07
1 18:29:45
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2 18:30:12
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3 18:30:39
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:29:18 0.010s
prepare 0% 19:29:18 0.206s
oiling 0% 19:29:19 1.648s
spread_dough 0% 19:29:27 9.076s
cook 0% 19:29:44 25.936s
add_topping 0% 19:30:14 55.939s
fold 0% 19:30:34 75.962s
push_off 0% 19:30:51 92.791s
wipe_spatula 0% 19:30:58 100.656s

Machine Logs

19:29:18.228 crepe_log_node Action status update: 1
19:29:18.228 make_crepe_action Executing make_crepe action
19:29:18.230 make_crepe_action prepare started
19:29:18.233 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_19-29-18/session.json
19:29:18.237 crepe_log_node Action status update: 2
19:29:18.238 duet1.duet_comm GCODE: G28 X Y
19:29:18.248 duet1.duet_comm GCODE: G92 A0
19:29:18.257 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
19:29:19.877 make_crepe_action oiling started
19:29:19.878 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
19:29:19.880 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
19:29:21.313 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
19:29:21.359 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:29:21.560 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:29:25.116 make_crepe_action wait_until: timeout waiting for idle
19:29:25.117 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:29:25.119 duet1.duet_comm GCODE: G92 A0
19:29:27.305 make_crepe_action spread_dough started
19:29:27.307 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
19:29:27.309 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
19:29:27.310 duet2.duet_comm GCODE: M106 P3 S0.97
19:29:28.166 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
19:29:28.166 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
19:29:28.968 duet1.duet_comm RUN MACRO: dough_spread_air.g
19:29:28.969 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
19:29:28.981 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
19:29:44.164 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
19:29:44.165 make_crepe_action cook started
19:29:44.165 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
19:29:44.179 duet2.duet_comm GCODE: M106 P3 S0
19:30:14.169 make_crepe_action add_topping started
19:30:14.169 make_crepe_action No topping selected for shape, skipping
19:30:34.172 make_crepe_action fold started
19:30:34.172 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
19:30:34.191 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
19:30:43.449 make_crepe_action fold started
19:30:43.449 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
19:30:43.459 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
19:30:51.021 make_crepe_action push_off started
19:30:51.024 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
19:30:58.883 make_crepe_action wipe_spatula started
19:30:58.884 duet1.duet_comm GCODE: G91 G1 U3 G90
19:30:58.896 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 30
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