Video

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Frame Analysis

19:08:41 1:52 observation 19:10:33
1 19:09:09
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2 19:09:37
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3 19:10:05
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:08:41 0.049s
prepare 0% 20:08:41 0.053s
oiling 0% 20:08:44 2.664s
spread_dough 0% 20:08:52 10.671s
cook 0% 20:09:09 27.523s
add_topping 0% 20:09:39 57.526s
fold 0% 20:09:59 77.533s
push_off 0% 20:10:17 95.522s
wipe_spatula 0% 20:10:25 103.956s

Machine Logs

20:08:41.640 crepe_log_node Action status update: 1
20:08:41.640 make_crepe_action Executing make_crepe action
20:08:41.643 make_crepe_action prepare started
20:08:41.644 duet1.duet_comm GCODE: G28 X Y
20:08:41.646 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_20-08-41/session.json
20:08:41.648 crepe_log_node Action status update: 2
20:08:41.656 duet1.duet_comm GCODE: G92 A0
20:08:41.665 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
20:08:44.306 make_crepe_action oiling started
20:08:44.307 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
20:08:44.309 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
20:08:46.306 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
20:08:46.352 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:08:46.553 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:08:50.110 make_crepe_action wait_until: timeout waiting for idle
20:08:50.112 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:08:50.112 duet1.duet_comm GCODE: G92 A0
20:08:52.312 make_crepe_action spread_dough started
20:08:52.313 make_crepe_action Full Duration: 10.0s; Speed: 218.3 mm/s; r_critical: 57.7mm; r_stop: 57.7mm ;duration_stop: 8.6s
20:08:52.316 duet2.duet_comm GCODE: M106 P3 S0.97
20:08:52.317 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.94 B200.52 F8000
20:08:53.167 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
20:08:53.169 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
20:08:53.969 duet1.duet_comm RUN MACRO: dough_spread_air.g
20:08:53.969 duet2.duet_comm GCODE: T0 G1 E33.505831223270995 F232.4188376753507
20:08:53.979 duet2.duet_comm GCODE: T0 G1 E5.052650058475672 F197.89779559118236
20:09:09.163 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
20:09:09.163 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
20:09:09.163 make_crepe_action cook started
20:09:09.173 duet2.duet_comm GCODE: M106 P3 S0
20:09:39.167 make_crepe_action add_topping started
20:09:39.169 make_crepe_action No topping selected for shape, skipping
20:09:59.174 make_crepe_action fold started
20:09:59.174 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
20:09:59.191 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
20:10:09.020 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
20:10:09.020 make_crepe_action fold started
20:10:09.031 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
20:10:17.164 make_crepe_action push_off started
20:10:17.166 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
20:10:25.597 make_crepe_action wipe_spatula started
20:10:25.597 duet1.duet_comm GCODE: G91 G1 U3 G90
20:10:25.607 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