Video

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Frame Analysis

20:15:16 1:49 observation 20:17:05
1 20:15:43
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2 20:16:10
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3 20:16:37
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:15:16 0.009s
prepare 0% 21:15:16 0.011s
oiling 0% 21:15:18 2.640s
spread_dough 0% 21:15:26 10.674s
cook 0% 21:15:41 25.094s
add_topping 0% 21:16:11 55.075s
fold 0% 21:16:31 75.091s
push_off 0% 21:16:49 93.138s
wipe_spatula 0% 21:16:57 101.502s

Machine Logs

21:15:16.093 make_crepe_action Executing make_crepe action
21:15:16.093 crepe_log_node Action status update: 1
21:15:16.095 make_crepe_action prepare started
21:15:16.097 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_21-15-16/session.json
21:15:16.101 crepe_log_node Action status update: 2
21:15:16.101 duet1.duet_comm GCODE: G28 X Y
21:15:16.112 duet1.duet_comm GCODE: G92 A0
21:15:16.122 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
21:15:18.734 make_crepe_action oiling started
21:15:18.735 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
21:15:18.737 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
21:15:20.736 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
21:15:20.787 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:15:20.987 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:15:24.542 make_crepe_action wait_until: timeout waiting for idle
21:15:24.544 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:15:24.544 duet1.duet_comm GCODE: G92 A0
21:15:26.736 make_crepe_action spread_dough started
21:15:26.737 make_crepe_action Full Duration: 7.8s; Speed: 238.1 mm/s; r_critical: 63.0mm; r_stop: 63.0mm ;duration_stop: 6.6s
21:15:26.739 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.99 B206.52 F8000
21:15:26.741 duet2.duet_comm GCODE: M106 P3 S0.95
21:15:27.451 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
21:15:27.452 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
21:15:28.252 duet1.duet_comm RUN MACRO: dough_spread_air.g
21:15:28.252 duet2.duet_comm GCODE: T0 G1 E25.555465664385178 F232.4188376753507
21:15:28.262 duet2.duet_comm GCODE: T0 G1 E4.721189938168117 F195.97995991983967
21:15:41.165 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
21:15:41.165 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
21:15:41.165 make_crepe_action cook started
21:15:41.176 duet2.duet_comm GCODE: M106 P3 S0
21:16:11.168 make_crepe_action add_topping started
21:16:11.169 make_crepe_action No topping selected for shape, skipping
21:16:31.172 make_crepe_action fold started
21:16:31.175 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
21:16:31.189 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
21:16:41.021 make_crepe_action fold started
21:16:41.021 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
21:16:41.032 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
21:16:49.171 make_crepe_action push_off started
21:16:49.183 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
21:16:57.593 duet1.duet_comm GCODE: G91 G1 U3 G90
21:16:57.593 make_crepe_action wipe_spatula started
21:16:57.604 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