Video

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Frame Analysis

11:11:37 1:51 observation 11:13:28
1 11:12:04
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2 11:12:32
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3 11:13:00
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Phases

Phase Detail Progress Time Elapsed
init 0% 12:11:37 0.007s
prepare 0.000007729499884590041% 12:11:37 0.008s
oiling 0.02615181915462017% 12:11:40 2.618s
spread_dough 0.10617942363023758% 12:11:48 10.621s
cook 0.2533968985080719% 12:12:03 25.342s
add_topping 0.5534154772758484% 12:12:33 55.369s
fold 0.7314370274543762% 12:12:51 73.145s
push_off 0.9361397624015808% 12:13:11 93.617s
wipe_spatula 1% 12:13:20 102.484s

Machine Logs

12:11:37.861 make_crepe_action Executing make_crepe action
12:11:37.861 crepe_log_node Action status update: 1
12:11:37.864 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-19_12-11-37/session.json
12:11:37.865 make_crepe_action prepare started
12:11:37.866 crepe_log_node Action status update: 2
12:11:37.867 duet1.duet_comm GCODE: G28 X Y
12:11:37.877 duet1.duet_comm GCODE: G92 A0
12:11:37.886 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
12:11:40.478 make_crepe_action oiling started
12:11:40.479 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
12:11:40.486 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
12:11:42.478 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
12:11:42.531 duet1.duet_comm RUN MACRO: oiling_optimized.g
12:11:43.334 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
12:11:46.905 make_crepe_action wait_until: timeout waiting for idle
12:11:46.911 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
12:11:46.914 duet1.duet_comm GCODE: G92 A0
12:11:48.482 make_crepe_action spread_dough started
12:11:48.487 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
12:11:48.493 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
12:11:48.494 duet2.duet_comm GCODE: M106 P3 S0.95
12:11:49.770 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
12:11:49.772 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
12:11:50.573 duet1.duet_comm RUN MACRO: dough_spread_air.g
12:11:50.582 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
12:11:50.592 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
12:12:03.202 make_crepe_action cook started
12:12:03.204 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
12:12:03.207 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
12:12:03.219 duet2.duet_comm GCODE: M106 P3 S0
12:12:33.205 make_crepe_action add_topping started
12:12:33.206 make_crepe_action Topping: chocolate, Port: 2, Density: 0.015, Flowrate: 0.9, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.016666666666666666
12:12:33.222 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B183 F360.00 G1 A-33 B187 F360.00 G1 A-29 B193 F360.00 G1 A-24 B199 F360.00 G1 A-19 B204 F360.00 G1 A-13 B203 F360.00 G1 A-8 B207 F360.00 G1 A-5 B216 F360.00 G1 A-7 B226 F360.00 G1 A-12 B233 F360.00 G1 A-9 B234 F360.00 G1 A-1 B233 F360.00 G1 A8 B237 F360.00 G1 A16 B240 F360.00 G1 A26 B244 F360.00 G1 A36 B247 F360.00 G1 A47 B250 F360.00 G1 A59 B252 F360.00 G1 A70 B252 F360.00 G1 A71 B244 F360.00 G1 A70 B233 F360.00 G1 A68 B222 F360.00 G1 A65 B214 F360.00 G1 A60 B208 F360.00 G1 A54 B202 F360.00 G1 A48 B196 F360.00 G1 A44 B193 F360.00 G1 A38 B194 F360.00 G1 A33 B197 F360.00 G1 A29 B204 F360.00 G1 A27 B201 F360.00 G1 A31 B193 F360.00 G1 A36 B189 F360.00 G1 A41 B187 F360.00 G1 A45 B187 F360.00 G1 A49 B190 F360.00 G1 A54 B194 F360.00 G1 A59 B199 F360.00 G1 A64 B205 F360.00 G1 A70 B212 F360.00 G1 A75 B219 F360.00 G1 A79 B228 F360.00 G1 A81 B239 F360.00 G1 A81 B250 F360.00 G1 A78 B260 F360.00 G1 A74 B270 F360.00 G1 A65 B280 F360.00 G1 A37 B289 F360.00 G1 A-48 B291 F360.00 G1 A-75 B283 F360.00 G1 A-81 B274 F360.00 G1 A-84 B264 F360.00 G1 A-85 B254 F360.00 G1 A-86 B246 F360.00 G1 A-81 B236 F360.00 G1 A-74 B241 F360.00 G1 A-65 B251 F360.00 G1 A-59 B253 F360.00 G1 A-52 B245 F360.00 G1 A-47 B236 F360.00 G1 A-44 B226 F360.00 G1 A-43 B216 F360.00 G1 A-42 B206 F360.00 G1 A-42 B197 F360.00 G1 A-42 B186 F360.00 G1 A-38 B183 F360.00 G94
12:12:33.288 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B207 F360.00 G1 A-30 B200 F360.00 G1 A-32 B206 F360.00 G1 A-30 B200 F360.00 G1 A-32 B206 F360.00 G94
12:12:33.333 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 652.63, 'start_coord': {'d': 182.992, 'rot': -37.626}, 'g_code': 'G93\nG1 A-38 B183 F360.00\nG1 A-33 B187 F360.00\nG1 A-29 B193 F360.00\nG1 A-24 B199 F360.00\nG1 A-19 B204 F360.00\nG1 A-13 B203 F360.00\nG1 A-8 B207 F360.00\nG1 A-5 B216 F360.00\nG1 A-7 B226 F360.00\nG1 A-12 B233 F360.00\nG1 A-9 B234 F360.00\nG1 A-1 B233 F360.00\nG1 A8 B237 F360.00\nG1 A16 B240 F360.00\nG1 A26 B244 F360.00\nG1 A36 B247 F360.00\nG1 A47 B250 F360.00\nG1 A59 B252 F360.00\nG1 A70 B252 F360.00\nG1 A71 B244 F360.00\nG1 A70 B233 F360.00\nG1 A68 B222 F360.00\nG1 A65 B214 F360.00\nG1 A60 B208 F360.00\nG1 A54 B202 F360.00\nG1 A48 B196 F360.00\nG1 A44 B193 F360.00\nG1 A38 B194 F360.00\nG1 A33 B197 F360.00\nG1 A29 B204 F360.00\nG1 A27 B201 F360.00\nG1 A31 B193 F360.00\nG1 A36 B189 F360.00\nG1 A41 B187 F360.00\nG1 A45 B187 F360.00\nG1 A49 B190 F360.00\nG1 A54 B194 F360.00\nG1 A59 B199 F360.00\nG1 A64 B205 F360.00\nG1 A70 B212 F360.00\nG1 A75 B219 F360.00\nG1 A79 B228 F360.00\nG1 A81 B239 F360.00\nG1 A81 B250 F360.00\nG1 A78 B260 F360.00\nG1 A74 B270 F360.00\nG1 A65 B280 F360.00\nG1 A37 B289 F360.00\nG1 A-48 B291 F360.00\nG1 A-75 B283 F360.00\nG1 A-81 B274 F360.00\nG1 A-84 B264 F360.00\nG1 A-85 B254 F360.00\nG1 A-86 B246 F360.00\nG1 A-81 B236 F360.00\nG1 A-74 B241 F360.00\nG1 A-65 B251 F360.00\nG1 A-59 B253 F360.00\nG1 A-52 B245 F360.00\nG1 A-47 B236 F360.00\nG1 A-44 B226 F360.00\nG1 A-43 B216 F360.00\nG1 A-42 B206 F360.00\nG1 A-42 B197 F360.00\nG1 A-42 B186 F360.00\nG1 A-38 B183 F360.00\nG94'}, {'name': 'maus-image_maus-eye.g', 'length': 47.393, 'start_coord': {'d': 206.638, 'rot': -32.293}, 'g_code': 'G93\nG1 A-32 B207 F360.00\nG1 A-30 B200 F360.00\nG1 A-32 B206 F360.00\nG1 A-30 B200 F360.00\nG1 A-32 B206 F360.00\nG94'}]
12:12:33.350 duet1.duet_comm GCODE: G1 A-38 B183 F6000
12:12:35.915 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
12:12:37.223 duet2.duet_comm GCODE: T2 G1 E12.016835064573593 F66.2865731462926
12:12:37.230 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
12:12:49.443 duet1.duet_comm GCODE: G1 A-32 B207 F6000
12:12:49.906 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
12:12:49.906 duet2.duet_comm GCODE: T2 G1 E1.1047762191048767 F66.2865731462926
12:12:51.006 duet1.duet_comm GCODE: G1 B10 F6000
12:12:51.009 make_crepe_action fold started
12:12:51.010 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
12:12:51.024 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
12:12:51.055 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
12:13:03.337 make_crepe_action fold started
12:13:03.337 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
12:13:03.349 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
12:13:11.478 make_crepe_action push_off started
12:13:11.481 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
12:13:20.341 make_crepe_action wipe_spatula started
12:13:20.341 duet1.duet_comm GCODE: G91 G1 U2.5 G90
12:13:20.356 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 30
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 0.015
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