Video

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Frame Analysis

19:59:35 1:50 observation 20:01:25
1 20:00:02
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2 20:00:30
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3 20:00:57
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:59:35 0.007s
prepare 0% 20:59:35 0.012s
oiling 0% 20:59:38 2.618s
spread_dough 0% 20:59:46 10.618s
cook 0% 21:00:00 25.069s
add_topping 0% 21:00:30 55.059s
fold 0% 21:00:50 75.068s
push_off 0% 21:01:08 93.053s
wipe_spatula 0% 21:01:16 101.475s

Machine Logs

20:59:35.402 crepe_log_node Action status update: 1
20:59:35.404 make_crepe_action Executing make_crepe action
20:59:35.405 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_20-59-35/session.json
20:59:35.406 make_crepe_action prepare started
20:59:35.407 crepe_log_node Action status update: 2
20:59:35.409 duet1.duet_comm GCODE: G28 X Y
20:59:35.420 duet1.duet_comm GCODE: G92 A0
20:59:35.429 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
20:59:38.020 make_crepe_action oiling started
20:59:38.022 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
20:59:38.026 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
20:59:40.020 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
20:59:40.087 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:59:40.288 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:59:42.050 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-03_20-59-12/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/785-5003af76.mp4?X-Amz-Expires=3600&X-Amz-Date=20260303T195941Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260303%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=451dbef6177aaafc5e6ccd8427f4a39268cf886002cbe49198850f92d0983f3f
20:59:43.847 make_crepe_action wait_until: timeout waiting for idle
20:59:43.849 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:59:43.853 duet1.duet_comm GCODE: G92 A0
20:59:46.021 make_crepe_action spread_dough started
20:59:46.022 make_crepe_action Full Duration: 7.8s; Speed: 238.1 mm/s; r_critical: 63.0mm; r_stop: 63.0mm ;duration_stop: 6.6s
20:59:46.024 duet2.duet_comm GCODE: M106 P3 S0.95
20:59:46.027 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.99 B206.52 F8000
20:59:46.734 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
20:59:46.734 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
20:59:47.536 duet1.duet_comm RUN MACRO: dough_spread_air.g
20:59:47.536 duet2.duet_comm GCODE: T0 G1 E25.555465664385178 F232.4188376753507
20:59:47.544 duet2.duet_comm GCODE: T0 G1 E4.721189938168117 F195.97995991983967
21:00:00.457 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
21:00:00.455 make_crepe_action cook started
21:00:00.460 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
21:00:00.468 duet2.duet_comm GCODE: M106 P3 S0
21:00:30.461 make_crepe_action add_topping started
21:00:30.462 make_crepe_action No topping selected for shape, skipping
21:00:50.467 make_crepe_action fold started
21:00:50.467 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
21:00:50.479 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 F20000 G1 Y-50 Z-24.825 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
21:01:00.307 make_crepe_action fold started
21:01:00.307 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
21:01:00.318 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 F20000 G1 Y-50 Z-24.825 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
21:01:08.454 make_crepe_action push_off started
21:01:08.461 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.2 A90 F20000 G1 Z-22.825 Y-50 F3000 G1 Z-4.824999999999999 Y-53 F4000 G1 Z35.175 Y-112.0 F4000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
21:01:16.876 duet1.duet_comm GCODE: G91 G1 U3 G90
21:01:16.876 make_crepe_action wipe_spatula started
21:01:16.888 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 -23.2
z_spread_end -12.3
z_spread_start -13.6
z_thread_pitch 15