Video

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Frame Analysis

20:06:20 1:49 observation 20:08:09
1 20:06:47
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2 20:07:14
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3 20:07:41
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:06:20 0.008s
prepare 0% 21:06:20 0.013s
oiling 0% 21:06:22 2.651s
spread_dough 0% 21:06:30 10.618s
cook 0% 21:06:45 25.049s
add_topping 0% 21:07:15 55.048s
fold 0% 21:07:35 75.051s
push_off 0% 21:07:53 93.052s
wipe_spatula 0% 21:08:01 101.354s

Machine Logs

21:06:20.257 crepe_log_node Action status update: 1
21:06:20.258 make_crepe_action Executing make_crepe action
21:06:20.260 make_crepe_action prepare started
21:06:20.261 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_21-06-20/session.json
21:06:20.263 duet1.duet_comm GCODE: G28 X Y
21:06:20.264 crepe_log_node Action status update: 2
21:06:20.274 duet1.duet_comm GCODE: G92 A0
21:06:20.283 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
21:06:22.878 make_crepe_action oiling started
21:06:22.880 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
21:06:22.883 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
21:06:24.880 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
21:06:24.925 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:06:25.127 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:06:28.685 make_crepe_action wait_until: timeout waiting for idle
21:06:28.687 duet1.duet_comm GCODE: G92 A0
21:06:28.688 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:06:30.877 make_crepe_action spread_dough started
21:06:30.878 make_crepe_action Full Duration: 7.8s; Speed: 238.1 mm/s; r_critical: 63.0mm; r_stop: 63.0mm ;duration_stop: 6.6s
21:06:30.880 duet2.duet_comm GCODE: M106 P3 S0.95
21:06:30.884 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.99 B206.52 F8000
21:06:31.594 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
21:06:31.595 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
21:06:32.395 duet1.duet_comm RUN MACRO: dough_spread_air.g
21:06:32.395 duet2.duet_comm GCODE: T0 G1 E25.555465664385178 F232.4188376753507
21:06:32.404 duet2.duet_comm GCODE: T0 G1 E4.721189938168117 F195.97995991983967
21:06:45.304 make_crepe_action cook started
21:06:45.304 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
21:06:45.307 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
21:06:45.315 duet2.duet_comm GCODE: M106 P3 S0
21:07:15.306 make_crepe_action add_topping started
21:07:15.307 make_crepe_action No topping selected for shape, skipping
21:07:35.309 make_crepe_action fold started
21:07:35.309 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
21:07:35.320 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.6 F20000 G1 Y-50 Z-25.225 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
21:07:45.165 make_crepe_action fold started
21:07:45.165 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
21:07:45.177 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.6 F20000 G1 Y-50 Z-25.225 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
21:07:53.311 make_crepe_action push_off started
21:07:53.315 duet1.duet_comm GCODE: G94 G92 A0 G1 F20000 G1 X0 Y0 Z0 B10 C5 F20000 G1 X-115.0 Y-14.0 Z-23.6 A90 F20000 G1 Z-23.225 Y-50 F3000 G1 Z-5.225000000000001 Y-53 F4000 G1 Z34.775 Y-112.0 F4000 G1 X-720 F20000 G92 X0 G28 Y G1 X0 Y0 Z0 B10 C5 F20000
21:08:01.594 duet1.duet_comm GCODE: G91 G1 U3 G90
21:08:01.594 make_crepe_action wipe_spatula started
21:08:01.613 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 -23.6
z_spread_end -12.3
z_spread_start -13.6
z_thread_pitch 15