Video

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Frame Analysis

13:10:41 2:19 observation 13:13:00
1 13:11:15
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2 13:11:50
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3 13:12:25
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:10:41 0.009s
prepare 0.000004105424977751682% 14:10:41 0.012s
oiling 0.10544651746749878% 14:10:53 12.682s
spread_dough 0.17211993038654327% 14:11:01 20.655s
cook 0.2878261208534241% 14:11:15 34.541s
add_topping 0.7045335173606873% 14:12:05 84.556s
fold 0.8712398409843445% 14:12:25 104.549s
push_off 1% 14:12:43 122.539s
wipe_spatula 1% 14:12:52 131.401s

Machine Logs

14:10:41.088 make_crepe_action Executing make_crepe action
14:10:41.089 crepe_log_node Action status update: 1
14:10:41.091 make_crepe_action prepare started
14:10:41.092 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-06_14-10-41/session.json
14:10:41.094 crepe_log_node Action status update: 2
14:10:41.096 duet1.duet_comm GCODE: G28
14:10:41.106 duet1.duet_comm GCODE: G92 A0
14:10:41.112 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:10:53.743 make_crepe_action oiling started
14:10:53.745 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
14:10:53.746 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:10:55.744 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
14:10:55.794 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:10:56.595 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:11:00.176 make_crepe_action wait_until: timeout waiting for idle
14:11:00.180 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:11:00.185 duet1.duet_comm GCODE: G92 A0
14:11:01.744 make_crepe_action spread_dough started
14:11:01.746 make_crepe_action Full Duration: 6.4s; Speed: 284.2 mm/s; r_critical: 75.2mm; r_stop: 75.2mm ;duration_stop: 5.0s
14:11:01.748 duet1.duet_comm GCODE: G90 G92 A0 G1 A1.00 B207.52 F8000
14:11:01.751 duet2.duet_comm GCODE: M106 P3 S0.95
14:11:03.033 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
14:11:03.036 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:11:03.835 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:11:03.837 duet2.duet_comm GCODE: T0 G1 E19.23087316541731 F232.4188376753507
14:11:03.845 duet2.duet_comm GCODE: T0 G1 E5.51983507437624 F200.45490981963928
14:11:15.625 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:11:15.630 make_crepe_action cook started
14:11:15.638 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
14:11:15.666 duet2.duet_comm GCODE: M106 P3 S0
14:12:05.635 make_crepe_action add_topping started
14:12:05.636 make_crepe_action No topping selected for shape, skipping
14:12:25.639 make_crepe_action fold started
14:12:25.639 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
14:12:25.650 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
14:12:35.460 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
14:12:35.462 make_crepe_action fold started
14:12:35.479 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
14:12:43.600 make_crepe_action push_off started
14:12:43.602 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
14:12:52.458 duet1.duet_comm GCODE: G91 G1 U2.5 G90
14:12:52.458 make_crepe_action wipe_spatula started
14:12:52.469 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
extra_time 70
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