Video

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Frame Analysis

19:41:40 1:50 observation 19:43:30
1 19:42:07
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2 19:42:35
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3 19:43:02
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:41:40 0.007s
prepare 0% 20:41:40 0.011s
oiling 0% 20:41:43 2.680s
spread_dough 0% 20:41:51 10.659s
cook 0% 20:42:05 25.105s
add_topping 0% 20:42:35 55.093s
fold 0% 20:42:55 75.096s
push_off 0% 20:43:13 93.086s
wipe_spatula 0% 20:43:21 101.382s

Machine Logs

20:41:40.504 crepe_log_node Action status update: 1
20:41:40.505 make_crepe_action Executing make_crepe action
20:41:40.507 make_crepe_action prepare started
20:41:40.508 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_20-41-40/session.json
20:41:40.509 duet1.duet_comm GCODE: G28 X Y
20:41:40.511 crepe_log_node Action status update: 2
20:41:40.518 duet1.duet_comm GCODE: G92 A0
20:41:40.527 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
20:41:43.164 make_crepe_action oiling started
20:41:43.165 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
20:41:43.167 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
20:41:45.164 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
20:41:45.210 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:41:45.412 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:41:48.967 make_crepe_action wait_until: timeout waiting for idle
20:41:48.970 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:41:48.972 duet1.duet_comm GCODE: G92 A0
20:41:51.164 make_crepe_action spread_dough started
20:41:51.165 make_crepe_action Full Duration: 7.8s; Speed: 238.1 mm/s; r_critical: 63.0mm; r_stop: 63.0mm ;duration_stop: 6.6s
20:41:51.166 duet2.duet_comm GCODE: M106 P3 S0.95
20:41:51.172 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.99 B206.52 F8000
20:41:51.879 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A1.0 B206.5 F263.75 G1 A20.7 B199.8 F263.75 G1 A40.8 B193.1 F263.75 G1 A61.1 B186.4 F263.75 G1 A81.8 B179.8 F263.75 G1 A102.8 B176.4 F263.75 G1 A124.3 B178.9 F263.75 G1 A146.1 B181.5 F263.75 G1 A168.3 B184.1 F263.75 G1 A191.0 B186.7 F263.75 G1 A214.1 B189.4 F263.75 G1 A237.6 B192.1 F263.75 G1 A261.7 B194.9 F263.75 G1 A286.3 B197.8 F263.75 G1 A311.5 B200.8 F263.75 G1 A337.4 B203.8 F263.75 G1 A363.9 B206.9 F263.75 G1 A391.1 B210.0 F263.75 G1 A419.1 B213.3 F263.75 G1 A448.0 B216.7 F263.75 G1 A477.9 B220.1 F263.75 G1 A508.8 B223.7 F263.75 G1 A540.8 B227.5 F263.75 G1 A574.2 B231.4 F263.75 G1 A609.1 B235.4 F263.75 G1 A645.7 B239.7 F263.75 G1 A684.3 B244.2 F263.75 G1 A725.2 B249.0 F263.75 G1 A769.1 B254.1 F263.75 G1 A816.4 B259.6 F263.75 G94 G1 A1444.3 B322.5 F13000.0 G1 A1804.3 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
20:41:51.879 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
20:41:52.680 duet1.duet_comm RUN MACRO: dough_spread_air.g
20:41:52.680 duet2.duet_comm GCODE: T0 G1 E25.555465664385178 F232.4188376753507
20:41:52.691 duet2.duet_comm GCODE: T0 G1 E4.721189938168117 F195.97995991983967
20:42:05.594 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
20:42:05.596 make_crepe_action cook started
20:42:05.601 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
20:42:05.609 duet2.duet_comm GCODE: M106 P3 S0
20:42:35.598 make_crepe_action add_topping started
20:42:35.599 make_crepe_action No topping selected for shape, skipping
20:42:55.601 make_crepe_action fold started
20:42:55.601 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
20:42:55.611 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
20:43:05.449 make_crepe_action fold started
20:43:05.449 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
20:43:05.465 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
20:43:13.591 make_crepe_action push_off started
20:43:13.593 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
20:43:21.887 duet1.duet_comm GCODE: G91 G1 U3 G90
20:43:21.887 make_crepe_action wipe_spatula started
20:43:21.906 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 0.0011
dm 322.5
flowrate 11
gap 42
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