Video

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Frame Analysis

21:02:32 2:09 observation 21:04:41
1 21:03:04
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2 21:03:36
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3 21:04:08
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Phases

Phase Detail Progress Time Elapsed
init 0% 22:02:32 0.006s
prepare 0% 22:02:32 0.011s
oiling 0% 22:02:35 2.719s
spread_dough 0% 22:02:42 10.137s
cook 0% 22:02:56 23.995s
add_topping 0% 22:03:46 73.999s
fold 0% 22:04:06 94.002s
push_off 0% 22:04:24 111.994s
wipe_spatula 0% 22:04:33 120.850s

Machine Logs

22:02:32.313 make_crepe_action Executing make_crepe action
22:02:32.313 crepe_log_node Action status update: 1
22:02:32.315 make_crepe_action prepare started
22:02:32.317 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-03_22-02-32/session.json
22:02:32.318 crepe_log_node Action status update: 2
22:02:32.322 duet1.duet_comm GCODE: G28 X Y
22:02:32.330 duet1.duet_comm GCODE: G92 A0
22:02:32.339 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
22:02:35.023 make_crepe_action oiling started
22:02:35.025 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
22:02:35.026 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
22:02:36.453 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
22:02:36.505 duet1.duet_comm RUN MACRO: oiling_optimized.g
22:02:36.706 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
22:02:40.262 make_crepe_action wait_until: timeout waiting for idle
22:02:40.266 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
22:02:40.272 duet1.duet_comm GCODE: G92 A0
22:02:42.450 make_crepe_action spread_dough started
22:02:42.452 make_crepe_action Full Duration: 6.4s; Speed: 284.2 mm/s; r_critical: 75.2mm; r_stop: 75.2mm ;duration_stop: 5.0s
22:02:42.455 duet2.duet_comm GCODE: M106 P3 S0.95
22:02:42.459 duet1.duet_comm GCODE: G90 G92 A0 G1 A1.00 B207.52 F8000
22:02:43.739 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
22:02:43.742 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
22:02:44.541 duet1.duet_comm RUN MACRO: dough_spread_air.g
22:02:44.541 duet2.duet_comm GCODE: T0 G1 E19.23087316541731 F232.4188376753507
22:02:44.549 duet2.duet_comm GCODE: T0 G1 E5.51983507437624 F200.45490981963928
22:02:56.309 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
22:02:56.309 make_crepe_action cook started
22:02:56.312 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
22:02:56.322 duet2.duet_comm GCODE: M106 P3 S0
22:03:46.313 make_crepe_action add_topping started
22:03:46.314 make_crepe_action No topping selected for shape, skipping
22:04:06.316 make_crepe_action fold started
22:04:06.316 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
22:04:06.327 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
22:04:16.165 make_crepe_action fold started
22:04:16.165 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
22:04:16.178 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
22:04:24.308 make_crepe_action push_off started
22:04:24.313 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
22:04:33.164 duet1.duet_comm GCODE: G91 G1 U3 G90
22:04:33.164 make_crepe_action wipe_spatula started
22:04:33.175 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