Video

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Frame Analysis

20:50:52 2:09 observation 20:53:01
1 20:51:24
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2 20:51:56
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3 20:52:28
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:50:52 0.007s
prepare 0% 21:50:52 0.011s
oiling 0% 21:50:55 2.591s
spread_dough 0% 21:51:02 10.020s
cook 0% 21:51:16 23.881s
add_topping 0% 21:52:06 73.882s
fold 0% 21:52:26 93.885s
push_off 0% 21:52:44 111.877s
wipe_spatula 0% 21:52:53 120.739s

Machine Logs

21:50:52.428 crepe_log_node Action status update: 1
21:50:52.428 make_crepe_action Executing make_crepe action
21:50:52.430 make_crepe_action prepare started
21:50:52.431 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_21-50-52/session.json
21:50:52.433 duet1.duet_comm GCODE: G28 X Y
21:50:52.434 crepe_log_node Action status update: 2
21:50:52.456 duet1.duet_comm GCODE: G92 A0
21:50:52.466 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
21:50:55.020 make_crepe_action oiling started
21:50:55.021 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
21:50:55.023 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
21:50:56.449 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
21:50:56.496 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:50:56.698 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:51:00.254 make_crepe_action wait_until: timeout waiting for idle
21:51:00.257 duet1.duet_comm GCODE: G92 A0
21:51:00.257 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:51:02.448 make_crepe_action spread_dough started
21:51:02.449 make_crepe_action Full Duration: 6.4s; Speed: 284.2 mm/s; r_critical: 75.2mm; r_stop: 75.2mm ;duration_stop: 5.0s
21:51:02.451 duet2.duet_comm GCODE: M106 P3 S0.95
21:51:02.455 duet1.duet_comm GCODE: G90 G92 A0 G1 A1.00 B207.52 F8000
21:51:03.734 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A1.0 B207.5 F350.49 G1 A18.7 B202.4 F350.49 G1 A36.7 B197.2 F350.49 G1 A54.9 B192.1 F350.49 G1 A73.4 B186.9 F350.49 G1 A92.2 B181.7 F350.49 G1 A111.3 B177.7 F350.49 G1 A130.7 B180.0 F350.49 G1 A150.4 B182.4 F350.49 G1 A170.5 B184.8 F350.49 G1 A191.0 B187.2 F350.49 G1 A211.8 B189.7 F350.49 G1 A233.0 B192.2 F350.49 G1 A254.6 B194.8 F350.49 G1 A276.7 B197.5 F350.49 G1 A299.3 B200.1 F350.49 G1 A322.3 B202.9 F350.49 G1 A345.9 B205.7 F350.49 G1 A370.1 B208.6 F350.49 G1 A394.9 B211.6 F350.49 G1 A420.5 B214.6 F350.49 G1 A446.7 B217.7 F350.49 G1 A473.8 B221.0 F350.49 G1 A501.7 B224.3 F350.49 G1 A530.6 B227.8 F350.49 G1 A560.7 B231.3 F350.49 G1 A592.0 B235.1 F350.49 G1 A624.6 B239.0 F350.49 G1 A658.9 B243.1 F350.49 G1 A695.0 B247.4 F350.49 G94 G1 A1412.8 B322.5 F13000.0 G1 A1772.8 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
21:51:03.734 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
21:51:04.535 duet1.duet_comm RUN MACRO: dough_spread_air.g
21:51:04.536 duet2.duet_comm GCODE: T0 G1 E19.23087316541731 F232.4188376753507
21:51:04.547 duet2.duet_comm GCODE: T0 G1 E5.51983507437624 F200.45490981963928
21:51:16.307 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
21:51:16.307 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
21:51:16.307 make_crepe_action cook started
21:51:16.317 duet2.duet_comm GCODE: M106 P3 S0
21:52:06.311 make_crepe_action add_topping started
21:52:06.312 make_crepe_action No topping selected for shape, skipping
21:52:26.314 make_crepe_action fold started
21:52:26.314 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
21:52:26.325 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
21:52:36.163 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
21:52:36.166 make_crepe_action fold started
21:52:36.174 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
21:52:44.306 make_crepe_action push_off started
21:52:44.308 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
21:52:53.164 duet1.duet_comm GCODE: G91 G1 U3 G90
21:52:53.164 make_crepe_action wipe_spatula started
21:52:53.176 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 50
density 0.0009
dm 322.5
flowrate 11
gap 43
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