Video

0:00 / 0:00

Frame Analysis

14:06:46 1:51 observation 14:08:37
1 14:07:13
Loading...
2 14:07:41
Loading...
3 14:08:09
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 15:06:46 0.006s
prepare 0.000002679289991647238% 15:06:47 0.178s
oiling 0.026735665276646614% 15:06:49 2.685s
spread_dough 0.1069563627243042% 15:06:57 10.712s
cook 0.2538868188858032% 15:07:12 25.415s
add_topping 0.5540124773979187% 15:07:42 55.401s
fold 0.728257417678833% 15:07:59 72.830s
push_off 0.9338995814323425% 15:08:20 93.393s
wipe_spatula 1% 15:08:29 102.252s

Machine Logs

15:06:46.847 make_crepe_action Executing make_crepe action
15:06:46.847 crepe_log_node Action status update: 1
15:06:46.849 make_crepe_action prepare started
15:06:46.850 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_15-06-46/session.json
15:06:46.852 crepe_log_node Action status update: 2
15:06:46.854 duet1.duet_comm GCODE: G28 X Y
15:06:46.863 duet1.duet_comm GCODE: G92 A0
15:06:46.873 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:06:49.522 make_crepe_action oiling started
15:06:49.525 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
15:06:49.531 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:06:51.528 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
15:06:51.584 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:06:52.391 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:06:55.266 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-20_15-04-45/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/878-c1161fdc.mp4?X-Amz-Expires=3600&X-Amz-Date=20260320T140654Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260320%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=3cc96bc6ee951024178f5ceee499edd218e8f0e2d076bba9de72d59d63319d38
15:06:55.949 make_crepe_action wait_until: timeout waiting for idle
15:06:55.952 duet1.duet_comm GCODE: G92 A0
15:06:55.953 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:06:57.544 make_crepe_action spread_dough started
15:06:57.550 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
15:06:57.552 duet2.duet_comm GCODE: M106 P3 S0.95
15:06:57.554 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:06:58.808 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
15:06:58.811 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:06:59.610 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:06:59.613 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
15:06:59.627 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
15:07:12.237 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:07:12.238 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:07:12.245 make_crepe_action cook started
15:07:12.255 duet2.duet_comm GCODE: M106 P3 S0
15:07:42.250 make_crepe_action add_topping started
15:07:42.251 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
15:07:42.288 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
15:07:42.345 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
15:07:42.391 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'}]
15:07:42.413 duet1.duet_comm GCODE: G1 A-38 B195 F6000
15:07:44.520 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
15:07:45.824 duet2.duet_comm GCODE: T1 G1 E12.016835064573593 F66.2865731462926
15:07:45.828 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
15:07:58.098 duet1.duet_comm GCODE: G1 A-32 B219 F6000
15:07:58.521 duet2.duet_comm GCODE: T1 G1 E1.1047762191048767 F66.2865731462926
15:07:58.526 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
15:07:59.671 duet1.duet_comm GCODE: G1 B10 F6000
15:07:59.673 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
15:07:59.674 make_crepe_action fold started
15:07:59.684 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:07:59.696 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
15:08:12.095 make_crepe_action fold started
15:08:12.098 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:08:12.114 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
15:08:20.238 make_crepe_action push_off started
15:08:20.243 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
15:08:29.094 make_crepe_action wipe_spatula started
15:08:29.102 duet1.duet_comm GCODE: G91 G1 U2.5 G90
15:08:29.121 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