Video

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Frame Analysis

19:00:15 1:59 observation 19:02:14
1 19:00:44
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2 19:01:14
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3 19:01:44
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:00:15 0.009s
prepare 0% 20:00:15 0.189s
oiling 0% 20:00:16 1.653s
spread_dough 0% 20:00:24 9.081s
cook 0% 20:00:52 36.938s
add_topping 0% 20:01:22 66.941s
fold 0% 20:01:42 86.946s
push_off 0% 20:01:58 103.796s
wipe_spatula 0% 20:02:06 111.656s

Machine Logs

20:00:15.082 crepe_log_node Action status update: 1
20:00:15.085 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_20-00-15/session.json
20:00:15.087 crepe_log_node Action status update: 2
20:00:15.088 make_crepe_action Executing make_crepe action
20:00:15.089 make_crepe_action prepare started
20:00:15.094 duet1.duet_comm GCODE: G28 X Y
20:00:15.102 duet1.duet_comm GCODE: G92 A0
20:00:15.110 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
20:00:16.736 make_crepe_action oiling started
20:00:16.737 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
20:00:16.742 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
20:00:18.171 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
20:00:18.233 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:00:18.435 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:00:22.003 make_crepe_action wait_until: timeout waiting for idle
20:00:22.005 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:00:22.026 duet1.duet_comm GCODE: G92 A0
20:00:24.164 make_crepe_action spread_dough started
20:00:24.165 make_crepe_action Full Duration: 21.8s; Speed: 105.9 mm/s; r_critical: 28.0mm; r_stop: 28.0mm ;duration_stop: 21.1s
20:00:24.167 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.92 B198.52 F8000
20:00:24.167 duet2.duet_comm GCODE: M106 P3 S0.97
20:00:25.024 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
20:00:25.027 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A0.9 B198.5 F82.46 G1 A29.0 B181.2 F82.46 G1 A57.6 B169.9 F82.46 G1 A86.8 B172.6 F82.46 G1 A116.5 B175.4 F82.46 G1 A146.9 B178.3 F82.46 G1 A177.8 B181.2 F82.46 G1 A209.4 B184.2 F82.46 G1 A241.7 B187.3 F82.46 G1 A274.7 B190.4 F82.46 G1 A308.6 B193.6 F82.46 G1 A343.3 B196.8 F82.46 G1 A378.9 B200.2 F82.46 G1 A415.5 B203.7 F82.46 G1 A453.3 B207.2 F82.46 G1 A492.2 B210.9 F82.46 G1 A532.5 B214.7 F82.46 G1 A574.2 B218.6 F82.46 G1 A617.6 B222.7 F82.46 G1 A662.9 B227.0 F82.46 G1 A710.3 B231.5 F82.46 G1 A760.1 B236.2 F82.46 G1 A812.8 B241.2 F82.46 G1 A869.0 B246.5 F82.46 G1 A929.4 B252.2 F82.46 G1 A995.2 B258.4 F82.46 G1 A1068.0 B265.2 F82.46 G1 A1151.0 B273.0 F82.46 G1 A1249.9 B282.3 F82.46 G1 A1380.6 B294.6 F82.46 G94 G1 A1715.7 B322.5 F13000.0 G1 A2122.9 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
20:00:25.824 duet1.duet_comm RUN MACRO: dough_spread_air.g
20:00:25.826 duet2.duet_comm GCODE: T0 G1 E65.1010167933419 F185.1122244488978
20:00:25.836 duet2.duet_comm GCODE: T0 G1 E2.0683774610810373 F140.3627254509018
20:00:52.021 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
20:00:52.021 make_crepe_action cook started
20:00:52.022 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
20:00:52.031 duet2.duet_comm GCODE: M106 P3 S0
20:01:22.025 make_crepe_action add_topping started
20:01:22.026 make_crepe_action No topping selected for shape, skipping
20:01:42.029 make_crepe_action fold started
20:01:42.029 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
20:01:42.039 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
20:01:51.306 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
20:01:51.307 make_crepe_action fold started
20:01:51.315 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
20:01:58.879 make_crepe_action push_off started
20:01:58.881 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
20:02:06.738 duet1.duet_comm GCODE: G91 G1 U3 G90
20:02:06.740 make_crepe_action wipe_spatula started
20:02:06.749 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 0.0025
dm 322.5
flowrate 9
gap 34
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