Video

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Frame Analysis

15:00:00 2:10 observation 15:02:10
1 15:00:32
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2 15:01:05
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3 15:01:37
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Phases

Phase Detail Progress Time Elapsed
init 0% 16:00:00 0.012s
prepare 0.0000027991832212137524% 16:00:00 0.023s
oiling 0.022302832454442978% 16:00:03 2.731s
spread_dough 0.08413048088550568% 16:00:10 10.123s
cook 0.206796333193779% 16:00:25 24.857s
add_topping 0.6235018372535706% 16:01:15 74.826s
fold 0.7902780771255493% 16:01:35 94.846s
push_off 0.9400683641433716% 16:01:53 112.815s
wipe_spatula 1% 16:02:02 121.674s

Machine Logs

16:00:00.387 crepe_log_node Action status update: 1
16:00:00.388 make_crepe_action Executing make_crepe action
16:00:00.390 make_crepe_action prepare started
16:00:00.392 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-09_16-00-00/session.json
16:00:00.393 duet1.duet_comm GCODE: G28 X Y
16:00:00.395 crepe_log_node Action status update: 2
16:00:00.416 duet1.duet_comm GCODE: G92 A0
16:00:00.426 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
16:00:03.069 make_crepe_action oiling started
16:00:03.071 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
16:00:03.086 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
16:00:04.497 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
16:00:04.585 duet1.duet_comm RUN MACRO: oiling_optimized.g
16:00:05.389 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
16:00:08.947 make_crepe_action wait_until: timeout waiting for idle
16:00:08.955 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
16:00:08.958 duet1.duet_comm GCODE: G92 A0
16:00:10.485 make_crepe_action spread_dough started
16:00:10.488 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
16:00:10.490 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
16:00:10.491 duet2.duet_comm GCODE: M106 P3 S0.95
16:00:11.775 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A1.0 B204.5 F309.65 G1 A20.4 B199.1 F309.65 G1 A40.1 B193.7 F309.65 G1 A60.1 B188.2 F309.65 G1 A80.3 B182.8 F309.65 G1 A100.9 B177.4 F309.65 G1 A121.9 B178.0 F309.65 G1 A143.2 B180.3 F309.65 G1 A164.9 B182.7 F309.65 G1 A186.9 B185.2 F309.65 G1 A209.4 B187.7 F309.65 G1 A232.2 B190.2 F309.65 G1 A255.6 B192.8 F309.65 G1 A279.4 B195.5 F309.65 G1 A303.7 B198.2 F309.65 G1 A328.5 B200.9 F309.65 G1 A354.0 B203.7 F309.65 G1 A380.0 B206.6 F309.65 G1 A406.7 B209.6 F309.65 G1 A434.1 B212.6 F309.65 G1 A462.4 B215.8 F309.65 G1 A491.4 B219.0 F309.65 G1 A521.4 B222.3 F309.65 G1 A552.5 B225.8 F309.65 G1 A584.7 B229.4 F309.65 G1 A618.2 B233.1 F309.65 G1 A653.1 B236.9 F309.65 G1 A689.7 B241.0 F309.65 G1 A728.3 B245.3 F309.65 G1 A769.1 B249.8 F309.65 G94 G1 A1512.0 B322.5 F13000.0 G1 A1872.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
16:00:11.784 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
16:00:12.588 duet1.duet_comm RUN MACRO: dough_spread_air.g
16:00:12.592 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
16:00:12.617 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
16:00:25.204 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
16:00:25.206 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
16:00:25.207 make_crepe_action cook started
16:00:25.236 duet2.duet_comm GCODE: M106 P3 S0
16:01:15.211 make_crepe_action add_topping started
16:01:15.220 make_crepe_action No topping selected for shape, skipping
16:01:35.223 make_crepe_action fold started
16:01:35.231 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
16:01:35.244 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
16:01:45.056 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
16:01:45.057 make_crepe_action fold started
16:01:45.075 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
16:01:53.199 make_crepe_action push_off started
16:01:53.209 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
16:02:02.056 duet1.duet_comm GCODE: G91 G1 U2.5 G90
16:02:02.057 make_crepe_action wipe_spatula started
16:02:02.070 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 0.001
dm 322.5
extra_time 70
flowrate 11
gap 40
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