Video

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Frame Analysis

13:30:56 1:49 observation 13:32:45
1 13:31:23
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2 13:31:50
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3 13:32:17
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:30:56 0.006s
prepare 0.0000041839498408080544% 14:30:56 0.010s
oiling 0.026375040411949158% 14:30:58 2.647s
spread_dough 0.10062044113874435% 14:31:06 10.092s
cook 0.24781034886837006% 14:31:20 24.808s
add_topping 0.5478383302688599% 14:31:50 54.784s
fold 0.7478700876235962% 14:32:10 74.806s
push_off 0.9277889132499695% 14:32:28 92.781s
wipe_spatula 1% 14:32:37 101.637s

Machine Logs

14:30:56.034 make_crepe_action Executing make_crepe action
14:30:56.034 crepe_log_node Action status update: 1
14:30:56.035 make_crepe_action prepare started
14:30:56.036 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_14-30-56/session.json
14:30:56.039 crepe_log_node Action status update: 2
14:30:56.041 duet1.duet_comm GCODE: G28 X Y
14:30:56.049 duet1.duet_comm GCODE: G92 A0
14:30:56.058 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:30:58.673 make_crepe_action oiling started
14:30:58.675 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
14:30:58.688 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:31:00.096 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
14:31:00.151 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:31:00.952 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:31:04.523 make_crepe_action wait_until: timeout waiting for idle
14:31:04.525 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:31:04.528 duet1.duet_comm GCODE: G92 A0
14:31:06.099 make_crepe_action spread_dough started
14:31:06.104 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
14:31:06.107 duet2.duet_comm GCODE: M106 P3 S0.95
14:31:06.109 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
14:31:07.382 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
14:31:07.384 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:31:08.183 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:31:08.183 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
14:31:08.194 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
14:31:20.809 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:31:20.816 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
14:31:20.816 make_crepe_action cook started
14:31:20.832 duet2.duet_comm GCODE: M106 P3 S0
14:31:50.819 make_crepe_action add_topping started
14:31:50.819 make_crepe_action No topping selected for shape, skipping
14:32:10.822 make_crepe_action fold started
14:32:10.831 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
14:32:10.847 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
14:32:20.667 make_crepe_action fold started
14:32:20.678 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
14:32:20.697 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
14:32:28.814 make_crepe_action push_off started
14:32:28.815 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
14:32:37.670 duet1.duet_comm GCODE: G91 G1 U2.5 G90
14:32:37.670 make_crepe_action wipe_spatula started
14:32:37.681 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 297.5
flowrate 1.3
max_g_per_rot 0.88
name apple
port 2
price 7
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.015
description Warme, zartschmelzende Schokolade. Einfach unwiderstehlich!
display_name Schokolade
dm 310
flowrate 0.9
max_g_per_rot 0.88
name chocolate
port 1
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