Video

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Frame Analysis

13:37:16 1:50 observation 13:39:06
1 13:37:43
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2 13:38:11
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3 13:38:38
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:37:16 0.006s
prepare 0.0000027615099043032387% 14:37:16 0.012s
oiling 0.026957308873534203% 14:37:19 2.713s
spread_dough 0.10703866928815842% 14:37:27 10.718s
cook 0.2527647018432617% 14:37:41 25.280s
add_topping 0.5528125166893005% 14:38:11 55.313s
fold 0.7528658509254456% 14:38:31 75.287s
push_off 0.9326468706130981% 14:38:49 93.265s
wipe_spatula 1% 14:38:57 101.574s

Machine Logs

14:37:16.396 make_crepe_action Executing make_crepe action
14:37:16.396 crepe_log_node Action status update: 1
14:37:16.397 make_crepe_action prepare started
14:37:16.399 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_14-37-16/session.json
14:37:16.401 crepe_log_node Action status update: 2
14:37:16.405 duet1.duet_comm GCODE: G28 X Y
14:37:16.413 duet1.duet_comm GCODE: G92 A0
14:37:16.423 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:37:19.093 make_crepe_action oiling started
14:37:19.094 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
14:37:19.098 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:37:21.103 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
14:37:21.154 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:37:21.955 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:37:24.759 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-20_14-35-07/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/865-e33533d2.mp4?X-Amz-Expires=3600&X-Amz-Date=20260320T133724Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260320%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=c145673fa6a71746fb04d33bac62b8c820e085aefbf70f254a66bb60a2f24358
14:37:25.522 make_crepe_action wait_until: timeout waiting for idle
14:37:25.525 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:37:25.529 duet1.duet_comm GCODE: G92 A0
14:37:27.101 make_crepe_action spread_dough started
14:37:27.106 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
14:37:27.110 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
14:37:27.110 duet2.duet_comm GCODE: M106 P3 S0.95
14:37:28.378 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
14:37:28.385 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:37:29.179 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
14:37:29.179 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:37:29.192 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
14:37:41.670 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:37:41.674 make_crepe_action cook started
14:37:41.676 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
14:37:41.692 duet2.duet_comm GCODE: M106 P3 S0
14:38:11.679 make_crepe_action add_topping started
14:38:11.681 make_crepe_action No topping selected for shape, skipping
14:38:31.684 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
14:38:31.687 make_crepe_action fold started
14:38:31.695 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
14:38:41.527 make_crepe_action fold started
14:38:41.533 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
14:38:41.549 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
14:38:49.662 make_crepe_action push_off started
14:38:49.667 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
14:38:57.951 make_crepe_action wipe_spatula started
14:38:57.954 duet1.duet_comm GCODE: G91 G1 U2.5 G90
14:38:57.976 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