Video

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Frame Analysis

13:33:04 1:50 observation 13:34:54
1 13:33:31
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2 13:33:59
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3 13:34:26
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:33:04 0.005s
prepare 0.0000025515100787742995% 14:33:04 0.009s
oiling 0.0237832423299551% 14:33:07 2.391s
spread_dough 0.09795095771551132% 14:33:14 9.800s
cook 0.24520403146743774% 14:33:29 24.559s
add_topping 0.5452672243118286% 14:33:59 54.530s
fold 0.7453301548957825% 14:34:19 74.554s
push_off 0.9251615405082703% 14:34:37 92.526s
wipe_spatula 1% 14:34:46 101.389s

Machine Logs

14:33:04.863 make_crepe_action Executing make_crepe action
14:33:04.864 crepe_log_node Action status update: 1
14:33:04.866 make_crepe_action prepare started
14:33:04.866 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_14-33-04/session.json
14:33:04.868 duet1.duet_comm GCODE: G28 X Y
14:33:04.868 crepe_log_node Action status update: 2
14:33:04.879 duet1.duet_comm GCODE: G92 A0
14:33:04.888 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:33:07.243 make_crepe_action oiling started
14:33:07.247 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
14:33:07.253 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:33:08.668 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
14:33:08.720 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:33:09.522 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:33:13.101 make_crepe_action wait_until: timeout waiting for idle
14:33:13.107 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:33:13.115 duet1.duet_comm GCODE: G92 A0
14:33:14.660 make_crepe_action spread_dough started
14:33:14.662 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
14:33:14.667 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
14:33:14.669 duet2.duet_comm GCODE: M106 P3 S0.95
14:33:15.963 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:33:15.964 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
14:33:16.762 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:33:16.765 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
14:33:16.773 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
14:33:29.382 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:33:29.383 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
14:33:29.388 make_crepe_action cook started
14:33:29.396 duet2.duet_comm GCODE: M106 P3 S0
14:33:59.393 make_crepe_action add_topping started
14:33:59.395 make_crepe_action No topping selected for shape, skipping
14:34:19.399 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
14:34:19.401 make_crepe_action fold started
14:34:19.424 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
14:34:29.237 make_crepe_action fold started
14:34:29.241 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
14:34:29.256 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
14:34:37.381 make_crepe_action push_off started
14:34:37.385 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
14:34:46.244 make_crepe_action wipe_spatula started
14:34:46.248 duet1.duet_comm GCODE: G91 G1 U2.5 G90
14:34:46.263 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