Maus Robotics Dashboard

Overview

Machine maus-nilo

Topping chocolate

Hotplate 227°C

Diameter - mm

Timing

Started 13:35:07 3/20/2026

→

Ended 13:36:57 3/20/2026

110s

Status

Environment

31.6°C Temperature

15.1% Humidity

Video

0:00 / 0:00 fps

Frame Analysis

13:35:07 1:50 observation 13:36:57

1 13:35:34

2 13:36:02

3 13:36:29

Phases

Phase Detail Progress Time Elapsed

init 0% 14:35:07 0.050s

prepare 0.0000028389199542289134% 14:35:07 0.055s

oiling 0.026198040693998337% 14:35:10 2.650s

spread_dough 0.10040847957134247% 14:35:17 10.070s

cook 0.24752897024154663% 14:35:32 24.786s

add_topping 0.5475602149963379% 14:36:02 54.758s

fold 0.7218877673149109% 14:36:20 72.189s

push_off 0.9275155663490295% 14:36:40 92.754s

wipe_spatula 1% 14:36:49 101.613s

Machine Logs

14:35:07.916 make_crepe_action Executing make_crepe action

14:35:07.916 crepe_log_node Action status update: 1

14:35:07.917 make_crepe_action prepare started

14:35:07.921 duet1.duet_comm GCODE: G28 X Y

14:35:07.921 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_14-35-07/session.json

14:35:07.925 crepe_log_node Action status update: 2

14:35:07.944 duet1.duet_comm GCODE: G92 A0

14:35:07.954 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000

14:35:10.543 make_crepe_action oiling started

14:35:10.544 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

14:35:10.552 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000

14:35:11.951 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

14:35:12.005 duet1.duet_comm RUN MACRO: oiling_optimized.g

14:35:12.809 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1

14:35:16.383 make_crepe_action wait_until: timeout waiting for idle

14:35:16.387 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0

14:35:16.389 duet1.duet_comm GCODE: G92 A0

14:35:17.960 make_crepe_action spread_dough started

14:35:17.967 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s

14:35:17.978 duet2.duet_comm GCODE: M106 P3 S0.95

14:35:17.982 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000

14:35:19.242 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

14:35:19.246 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112

14:35:20.045 duet1.duet_comm RUN MACRO: dough_spread_air.g

14:35:20.045 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507

14:35:20.054 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535

14:35:25.474 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-20_14-33-04/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/864-3347c482.mp4?X-Amz-Expires=3600&X-Amz-Date=20260320T133524Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260320%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=7e0374755b90d93654267ad62992ad4d4746884bd55bbf34b9425aa3a03485a1

14:35:32.670 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0

14:35:32.670 make_crepe_action cook started

14:35:32.671 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112

14:35:32.693 duet2.duet_comm GCODE: M106 P3 S0

14:36:02.674 make_crepe_action add_topping started

14:36:02.675 make_crepe_action Topping: chocolate, Port: 1, Density: 0.015, Flowrate: 0.9, DM: 310.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.016666666666666666

14:36:02.686 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B195 F360.00 G1 A-33 B200 F360.00 G1 A-29 B206 F360.00 G1 A-24 B212 F360.00 G1 A-19 B216 F360.00 G1 A-13 B216 F360.00 G1 A-8 B220 F360.00 G1 A-5 B228 F360.00 G1 A-7 B238 F360.00 G1 A-12 B246 F360.00 G1 A-9 B246 F360.00 G1 A-1 B245 F360.00 G1 A8 B249 F360.00 G1 A16 B253 F360.00 G1 A26 B256 F360.00 G1 A36 B259 F360.00 G1 A47 B262 F360.00 G1 A59 B264 F360.00 G1 A70 B265 F360.00 G1 A71 B257 F360.00 G1 A70 B246 F360.00 G1 A68 B235 F360.00 G1 A65 B227 F360.00 G1 A60 B221 F360.00 G1 A54 B215 F360.00 G1 A48 B209 F360.00 G1 A44 B206 F360.00 G1 A38 B207 F360.00 G1 A33 B209 F360.00 G1 A29 B216 F360.00 G1 A27 B214 F360.00 G1 A31 B206 F360.00 G1 A36 B202 F360.00 G1 A41 B199 F360.00 G1 A45 B200 F360.00 G1 A49 B203 F360.00 G1 A54 B207 F360.00 G1 A59 B212 F360.00 G1 A64 B218 F360.00 G1 A70 B224 F360.00 G1 A75 B232 F360.00 G1 A79 B240 F360.00 G1 A81 B251 F360.00 G1 A81 B263 F360.00 G1 A78 B273 F360.00 G1 A74 B283 F360.00 G1 A65 B292 F360.00 G1 A37 B301 F360.00 G1 A-48 B304 F360.00 G1 A-75 B296 F360.00 G1 A-81 B286 F360.00 G1 A-84 B276 F360.00 G1 A-85 B266 F360.00 G1 A-86 B258 F360.00 G1 A-81 B248 F360.00 G1 A-74 B253 F360.00 G1 A-65 B264 F360.00 G1 A-59 B266 F360.00 G1 A-52 B258 F360.00 G1 A-47 B248 F360.00 G1 A-44 B239 F360.00 G1 A-43 B229 F360.00 G1 A-42 B219 F360.00 G1 A-42 B209 F360.00 G1 A-42 B199 F360.00 G1 A-38 B195 F360.00 G94

14:36:02.764 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B219 F360.00 G1 A-30 B213 F360.00 G1 A-32 B219 F360.00 G1 A-30 B212 F360.00 G1 A-32 B218 F360.00 G94

14:36:02.832 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 F360.00\nG1 A-33 B200 F360.00\nG1 A-29 B206 F360.00\nG1 A-24 B212 F360.00\nG1 A-19 B216 F360.00\nG1 A-13 B216 F360.00\nG1 A-8 B220 F360.00\nG1 A-5 B228 F360.00\nG1 A-7 B238 F360.00\nG1 A-12 B246 F360.00\nG1 A-9 B246 F360.00\nG1 A-1 B245 F360.00\nG1 A8 B249 F360.00\nG1 A16 B253 F360.00\nG1 A26 B256 F360.00\nG1 A36 B259 F360.00\nG1 A47 B262 F360.00\nG1 A59 B264 F360.00\nG1 A70 B265 F360.00\nG1 A71 B257 F360.00\nG1 A70 B246 F360.00\nG1 A68 B235 F360.00\nG1 A65 B227 F360.00\nG1 A60 B221 F360.00\nG1 A54 B215 F360.00\nG1 A48 B209 F360.00\nG1 A44 B206 F360.00\nG1 A38 B207 F360.00\nG1 A33 B209 F360.00\nG1 A29 B216 F360.00\nG1 A27 B214 F360.00\nG1 A31 B206 F360.00\nG1 A36 B202 F360.00\nG1 A41 B199 F360.00\nG1 A45 B200 F360.00\nG1 A49 B203 F360.00\nG1 A54 B207 F360.00\nG1 A59 B212 F360.00\nG1 A64 B218 F360.00\nG1 A70 B224 F360.00\nG1 A75 B232 F360.00\nG1 A79 B240 F360.00\nG1 A81 B251 F360.00\nG1 A81 B263 F360.00\nG1 A78 B273 F360.00\nG1 A74 B283 F360.00\nG1 A65 B292 F360.00\nG1 A37 B301 F360.00\nG1 A-48 B304 F360.00\nG1 A-75 B296 F360.00\nG1 A-81 B286 F360.00\nG1 A-84 B276 F360.00\nG1 A-85 B266 F360.00\nG1 A-86 B258 F360.00\nG1 A-81 B248 F360.00\nG1 A-74 B253 F360.00\nG1 A-65 B264 F360.00\nG1 A-59 B266 F360.00\nG1 A-52 B258 F360.00\nG1 A-47 B248 F360.00\nG1 A-44 B239 F360.00\nG1 A-43 B229 F360.00\nG1 A-42 B219 F360.00\nG1 A-42 B209 F360.00\nG1 A-42 B199 F360.00\nG1 A-38 B195 F360.00\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 F360.00\nG1 A-30 B213 F360.00\nG1 A-32 B219 F360.00\nG1 A-30 B212 F360.00\nG1 A-32 B218 F360.00\nG94'}]

14:36:02.835 duet1.duet_comm GCODE: G1 A-38 B195 F6000

14:36:04.956 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446

14:36:06.255 duet2.duet_comm GCODE: T1 G1 E12.016835064573593 F66.2865731462926

14:36:06.269 duet1.duet_comm RUN MACRO: maus-image_maus-body.g

14:36:18.522 duet1.duet_comm GCODE: G1 A-32 B219 F6000

14:36:18.958 duet2.duet_comm GCODE: T1 G1 E1.1047762191048767 F66.2865731462926

14:36:18.962 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g

14:36:20.105 duet1.duet_comm GCODE: G1 B10 F6000

14:36:20.105 make_crepe_action fold started

14:36:20.111 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499

14:36:20.134 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0

14:36:20.153 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

14:36:32.523 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000

14:36:32.525 make_crepe_action fold started

14:36:32.546 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

14:36:40.669 make_crepe_action push_off started

14:36:40.672 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

14:36:49.523 make_crepe_action wipe_spatula started

14:36:49.528 duet1.duet_comm GCODE: G91 G1 U2.5 G90

14:36:49.543 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

Crêpe #865