Maus Robotics Dashboard

Overview

Machine maus-nilo

Topping apple

Hotplate 21°C

Diameter - mm

Timing

Started 13:34:32 3/6/2026

→

Ended 13:36:45 3/6/2026

133s

Status

Environment

21.2°C Temperature

37.7% Humidity

Video

0:00 / 0:00 fps

Frame Analysis

13:34:32 2:13 observation 13:36:45

1 13:35:05

2 13:35:38

3 13:36:11

Phases

Phase Detail Progress Time Elapsed

init 0% 14:34:32 0.004s

prepare 0% 14:34:32 0.009s

oiling 2% 14:34:34 2.773s

spread_dough 8% 14:34:42 10.172s

cook 20% 14:34:56 24.028s

add_topping 61% 14:35:46 74.029s

fold 79% 14:36:07 95.764s

push_off 96% 14:36:28 116.345s

wipe_spatula 100% 14:36:37 125.150s

Machine Logs

14:34:32.019 make_crepe_action Executing make_crepe action

14:34:32.019 crepe_log_node Action status update: 1

14:34:32.021 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-06_14-34-32/session.json

14:34:32.023 crepe_log_node Action status update: 2

14:34:32.025 make_crepe_action prepare started

14:34:32.030 duet1.duet_comm GCODE: G28 X Y

14:34:32.038 duet1.duet_comm GCODE: G92 A0

14:34:32.047 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000

14:34:34.751 make_crepe_action oiling started

14:34:34.757 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

14:34:34.760 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000

14:34:36.174 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

14:34:36.230 duet1.duet_comm RUN MACRO: oiling_optimized.g

14:34:37.033 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1

14:34:40.602 make_crepe_action wait_until: timeout waiting for idle

14:34:40.608 duet1.duet_comm GCODE: G92 A0

14:34:40.625 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0

14:34:42.175 make_crepe_action spread_dough started

14:34:42.176 make_crepe_action Full Duration: 6.4s; Speed: 284.2 mm/s; r_critical: 75.2mm; r_stop: 75.2mm ;duration_stop: 5.0s

14:34:42.181 duet1.duet_comm GCODE: G90 G92 A0 G1 A1.00 B207.52 F8000

14:34:42.195 duet2.duet_comm GCODE: M106 P3 S0.95

14:34:43.455 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

14:34:43.457 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112

14:34:44.257 duet1.duet_comm RUN MACRO: dough_spread_air.g

14:34:44.259 duet2.duet_comm GCODE: T0 G1 E19.23087316541731 F232.4188376753507

14:34:44.282 duet2.duet_comm GCODE: T0 G1 E5.51983507437624 F200.45490981963928

14:34:56.025 make_crepe_action cook started

14:34:56.026 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0

14:34:56.029 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112

14:34:56.061 duet2.duet_comm GCODE: M106 P3 S0

14:35:46.028 make_crepe_action add_topping started

14:35:46.029 make_crepe_action Topping: apple, Port: 1, Density: 0.03, Flowrate: 1.3, DM: 310.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.023076923076923075

14:35:46.047 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B195 F260.00 G1 A-33 B200 F260.00 G1 A-29 B206 F260.00 G1 A-24 B212 F260.00 G1 A-19 B216 F260.00 G1 A-13 B216 F260.00 G1 A-8 B220 F260.00 G1 A-5 B228 F260.00 G1 A-7 B238 F260.00 G1 A-12 B246 F260.00 G1 A-9 B246 F260.00 G1 A-1 B245 F260.00 G1 A8 B249 F260.00 G1 A16 B253 F260.00 G1 A26 B256 F260.00 G1 A36 B259 F260.00 G1 A47 B262 F260.00 G1 A59 B264 F260.00 G1 A70 B265 F260.00 G1 A71 B257 F260.00 G1 A70 B246 F260.00 G1 A68 B235 F260.00 G1 A65 B227 F260.00 G1 A60 B221 F260.00 G1 A54 B215 F260.00 G1 A48 B209 F260.00 G1 A44 B206 F260.00 G1 A38 B207 F260.00 G1 A33 B209 F260.00 G1 A29 B216 F260.00 G1 A27 B214 F260.00 G1 A31 B206 F260.00 G1 A36 B202 F260.00 G1 A41 B199 F260.00 G1 A45 B200 F260.00 G1 A49 B203 F260.00 G1 A54 B207 F260.00 G1 A59 B212 F260.00 G1 A64 B218 F260.00 G1 A70 B224 F260.00 G1 A75 B232 F260.00 G1 A79 B240 F260.00 G1 A81 B251 F260.00 G1 A81 B263 F260.00 G1 A78 B273 F260.00 G1 A74 B283 F260.00 G1 A65 B292 F260.00 G1 A37 B301 F260.00 G1 A-48 B304 F260.00 G1 A-75 B296 F260.00 G1 A-81 B286 F260.00 G1 A-84 B276 F260.00 G1 A-85 B266 F260.00 G1 A-86 B258 F260.00 G1 A-81 B248 F260.00 G1 A-74 B253 F260.00 G1 A-65 B264 F260.00 G1 A-59 B266 F260.00 G1 A-52 B258 F260.00 G1 A-47 B248 F260.00 G1 A-44 B239 F260.00 G1 A-43 B229 F260.00 G1 A-42 B219 F260.00 G1 A-42 B209 F260.00 G1 A-42 B199 F260.00 G1 A-38 B195 F260.00 G94

14:35:46.094 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B219 F260.00 G1 A-30 B213 F260.00 G1 A-32 B219 F260.00 G1 A-30 B212 F260.00 G1 A-32 B218 F260.00 G94

14:35:46.153 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 652.63, 'start_coord': {'d': 195.492, 'rot': -37.626}, 'g_code': 'G93\nG1 A-38 B195 F260.00\nG1 A-33 B200 F260.00\nG1 A-29 B206 F260.00\nG1 A-24 B212 F260.00\nG1 A-19 B216 F260.00\nG1 A-13 B216 F260.00\nG1 A-8 B220 F260.00\nG1 A-5 B228 F260.00\nG1 A-7 B238 F260.00\nG1 A-12 B246 F260.00\nG1 A-9 B246 F260.00\nG1 A-1 B245 F260.00\nG1 A8 B249 F260.00\nG1 A16 B253 F260.00\nG1 A26 B256 F260.00\nG1 A36 B259 F260.00\nG1 A47 B262 F260.00\nG1 A59 B264 F260.00\nG1 A70 B265 F260.00\nG1 A71 B257 F260.00\nG1 A70 B246 F260.00\nG1 A68 B235 F260.00\nG1 A65 B227 F260.00\nG1 A60 B221 F260.00\nG1 A54 B215 F260.00\nG1 A48 B209 F260.00\nG1 A44 B206 F260.00\nG1 A38 B207 F260.00\nG1 A33 B209 F260.00\nG1 A29 B216 F260.00\nG1 A27 B214 F260.00\nG1 A31 B206 F260.00\nG1 A36 B202 F260.00\nG1 A41 B199 F260.00\nG1 A45 B200 F260.00\nG1 A49 B203 F260.00\nG1 A54 B207 F260.00\nG1 A59 B212 F260.00\nG1 A64 B218 F260.00\nG1 A70 B224 F260.00\nG1 A75 B232 F260.00\nG1 A79 B240 F260.00\nG1 A81 B251 F260.00\nG1 A81 B263 F260.00\nG1 A78 B273 F260.00\nG1 A74 B283 F260.00\nG1 A65 B292 F260.00\nG1 A37 B301 F260.00\nG1 A-48 B304 F260.00\nG1 A-75 B296 F260.00\nG1 A-81 B286 F260.00\nG1 A-84 B276 F260.00\nG1 A-85 B266 F260.00\nG1 A-86 B258 F260.00\nG1 A-81 B248 F260.00\nG1 A-74 B253 F260.00\nG1 A-65 B264 F260.00\nG1 A-59 B266 F260.00\nG1 A-52 B258 F260.00\nG1 A-47 B248 F260.00\nG1 A-44 B239 F260.00\nG1 A-43 B229 F260.00\nG1 A-42 B219 F260.00\nG1 A-42 B209 F260.00\nG1 A-42 B199 F260.00\nG1 A-38 B195 F260.00\nG94'}, {'name': 'maus-image_maus-eye.g', 'length': 47.393, 'start_coord': {'d': 219.138, 'rot': -32.293}, 'g_code': 'G93\nG1 A-32 B219 F260.00\nG1 A-30 B213 F260.00\nG1 A-32 B219 F260.00\nG1 A-30 B212 F260.00\nG1 A-32 B218 F260.00\nG94'}]

14:35:46.168 duet1.duet_comm GCODE: G1 A-38 B195 F6000

14:35:48.316 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446

14:35:49.619 duet2.duet_comm GCODE: T1 G1 E28.16409825034685 F112.20240480961925

14:35:49.622 duet1.duet_comm RUN MACRO: maus-image_maus-body.g

14:36:05.623 duet1.duet_comm GCODE: G1 A-32 B219 F6000

14:36:06.179 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g

14:36:06.189 duet2.duet_comm GCODE: T1 G1 E2.5892862648373676 F112.20240480961925

14:36:07.759 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499

14:36:07.760 duet1.duet_comm GCODE: G1 B10 F6000

14:36:07.761 make_crepe_action fold started

14:36:07.789 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0

14:36:07.803 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

14:36:20.169 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000

14:36:20.171 make_crepe_action fold started

14:36:20.184 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

14:36:28.324 make_crepe_action push_off started

14:36:28.334 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

14:36:37.171 make_crepe_action wipe_spatula started

14:36:37.173 duet1.duet_comm GCODE: G91 G1 U2.5 G90

14:36:37.190 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

Crêpe #813