Video

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Frame Analysis

14:21:48 1:55 observation 14:23:43
1 14:22:16
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2 14:22:45
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3 14:23:14
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:21:48 0.008s
prepare 0.000002402970039838692% 15:21:48 0.010s
oiling 0.025929724797606468% 15:21:50 2.600s
spread_dough 0.10573853552341461% 15:21:58 10.603s
cook 0.2529746890068054% 15:22:13 25.323s
add_topping 0.5530077815055847% 15:22:43 55.301s
fold 0.774351954460144% 15:23:05 77.473s
push_off 0.9786109924316406% 15:23:26 97.885s
wipe_spatula 1% 15:23:34 106.748s

Machine Logs

15:21:48.228 make_crepe_action Executing make_crepe action
15:21:48.229 crepe_log_node Action status update: 1
15:21:48.230 make_crepe_action prepare started
15:21:48.232 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_15-21-48/session.json
15:21:48.234 crepe_log_node Action status update: 2
15:21:48.236 duet1.duet_comm GCODE: G28 X Y
15:21:48.244 duet1.duet_comm GCODE: G92 A0
15:21:48.253 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:21:50.823 make_crepe_action oiling started
15:21:50.829 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
15:21:50.834 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:21:52.813 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
15:21:52.871 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:21:53.673 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:21:57.236 make_crepe_action wait_until: timeout waiting for idle
15:21:57.240 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:21:57.243 duet1.duet_comm GCODE: G92 A0
15:21:58.811 make_crepe_action spread_dough started
15:21:58.812 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
15:21:58.819 duet2.duet_comm GCODE: M106 P3 S0.95
15:21:58.821 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:22:00.093 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:22:00.095 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
15:22:00.893 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:22:00.894 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
15:22:00.902 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
15:22:13.526 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:22:13.528 make_crepe_action cook started
15:22:13.536 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:22:13.543 duet2.duet_comm GCODE: M106 P3 S0
15:22:43.531 make_crepe_action add_topping started
15:22:43.534 make_crepe_action Topping: apple, Port: 2, Density: 0.03, Flowrate: 1.3, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.023076923076923075
15:22:43.543 duet1.duet_comm UPLOAD MACRO: maus-image_maus-body.g G93 G1 A-38 B183 F260.00 G1 A-33 B187 F260.00 G1 A-29 B193 F260.00 G1 A-24 B199 F260.00 G1 A-19 B204 F260.00 G1 A-13 B203 F260.00 G1 A-8 B207 F260.00 G1 A-5 B216 F260.00 G1 A-7 B226 F260.00 G1 A-12 B233 F260.00 G1 A-9 B234 F260.00 G1 A-1 B233 F260.00 G1 A8 B237 F260.00 G1 A16 B240 F260.00 G1 A26 B244 F260.00 G1 A36 B247 F260.00 G1 A47 B250 F260.00 G1 A59 B252 F260.00 G1 A70 B252 F260.00 G1 A71 B244 F260.00 G1 A70 B233 F260.00 G1 A68 B222 F260.00 G1 A65 B214 F260.00 G1 A60 B208 F260.00 G1 A54 B202 F260.00 G1 A48 B196 F260.00 G1 A44 B193 F260.00 G1 A38 B194 F260.00 G1 A33 B197 F260.00 G1 A29 B204 F260.00 G1 A27 B201 F260.00 G1 A31 B193 F260.00 G1 A36 B189 F260.00 G1 A41 B187 F260.00 G1 A45 B187 F260.00 G1 A49 B190 F260.00 G1 A54 B194 F260.00 G1 A59 B199 F260.00 G1 A64 B205 F260.00 G1 A70 B212 F260.00 G1 A75 B219 F260.00 G1 A79 B228 F260.00 G1 A81 B239 F260.00 G1 A81 B250 F260.00 G1 A78 B260 F260.00 G1 A74 B270 F260.00 G1 A65 B280 F260.00 G1 A37 B289 F260.00 G1 A-48 B291 F260.00 G1 A-75 B283 F260.00 G1 A-81 B274 F260.00 G1 A-84 B264 F260.00 G1 A-85 B254 F260.00 G1 A-86 B246 F260.00 G1 A-81 B236 F260.00 G1 A-74 B241 F260.00 G1 A-65 B251 F260.00 G1 A-59 B253 F260.00 G1 A-52 B245 F260.00 G1 A-47 B236 F260.00 G1 A-44 B226 F260.00 G1 A-43 B216 F260.00 G1 A-42 B206 F260.00 G1 A-42 B197 F260.00 G1 A-42 B186 F260.00 G1 A-38 B183 F260.00 G94
15:22:43.589 duet1.duet_comm UPLOAD MACRO: maus-image_maus-eye.g G93 G1 A-32 B207 F260.00 G1 A-30 B200 F260.00 G1 A-32 B206 F260.00 G1 A-30 B200 F260.00 G1 A-32 B206 F260.00 G94
15:22:43.631 make_crepe_action Uploaded 2 path macros. Starting execution.: [{'name': 'maus-image_maus-body.g', 'length': 652.63, 'start_coord': {'d': 182.992, 'rot': -37.626}, 'g_code': 'G93\nG1 A-38 B183 F260.00\nG1 A-33 B187 F260.00\nG1 A-29 B193 F260.00\nG1 A-24 B199 F260.00\nG1 A-19 B204 F260.00\nG1 A-13 B203 F260.00\nG1 A-8 B207 F260.00\nG1 A-5 B216 F260.00\nG1 A-7 B226 F260.00\nG1 A-12 B233 F260.00\nG1 A-9 B234 F260.00\nG1 A-1 B233 F260.00\nG1 A8 B237 F260.00\nG1 A16 B240 F260.00\nG1 A26 B244 F260.00\nG1 A36 B247 F260.00\nG1 A47 B250 F260.00\nG1 A59 B252 F260.00\nG1 A70 B252 F260.00\nG1 A71 B244 F260.00\nG1 A70 B233 F260.00\nG1 A68 B222 F260.00\nG1 A65 B214 F260.00\nG1 A60 B208 F260.00\nG1 A54 B202 F260.00\nG1 A48 B196 F260.00\nG1 A44 B193 F260.00\nG1 A38 B194 F260.00\nG1 A33 B197 F260.00\nG1 A29 B204 F260.00\nG1 A27 B201 F260.00\nG1 A31 B193 F260.00\nG1 A36 B189 F260.00\nG1 A41 B187 F260.00\nG1 A45 B187 F260.00\nG1 A49 B190 F260.00\nG1 A54 B194 F260.00\nG1 A59 B199 F260.00\nG1 A64 B205 F260.00\nG1 A70 B212 F260.00\nG1 A75 B219 F260.00\nG1 A79 B228 F260.00\nG1 A81 B239 F260.00\nG1 A81 B250 F260.00\nG1 A78 B260 F260.00\nG1 A74 B270 F260.00\nG1 A65 B280 F260.00\nG1 A37 B289 F260.00\nG1 A-48 B291 F260.00\nG1 A-75 B283 F260.00\nG1 A-81 B274 F260.00\nG1 A-84 B264 F260.00\nG1 A-85 B254 F260.00\nG1 A-86 B246 F260.00\nG1 A-81 B236 F260.00\nG1 A-74 B241 F260.00\nG1 A-65 B251 F260.00\nG1 A-59 B253 F260.00\nG1 A-52 B245 F260.00\nG1 A-47 B236 F260.00\nG1 A-44 B226 F260.00\nG1 A-43 B216 F260.00\nG1 A-42 B206 F260.00\nG1 A-42 B197 F260.00\nG1 A-42 B186 F260.00\nG1 A-38 B183 F260.00\nG94'}, {'name': 'maus-image_maus-eye.g', 'length': 47.393, 'start_coord': {'d': 206.638, 'rot': -32.293}, 'g_code': 'G93\nG1 A-32 B207 F260.00\nG1 A-30 B200 F260.00\nG1 A-32 B206 F260.00\nG1 A-30 B200 F260.00\nG1 A-32 B206 F260.00\nG94'}]
15:22:43.634 duet1.duet_comm GCODE: G1 A-38 B183 F6000
15:22:46.091 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
15:22:47.391 duet2.duet_comm GCODE: T2 G1 E28.16409825034685 F112.20240480961925
15:22:47.394 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
15:23:03.524 duet1.duet_comm GCODE: G1 A-32 B207 F6000
15:23:03.953 duet2.duet_comm GCODE: T2 G1 E2.5892862648373676 F112.20240480961925
15:23:03.955 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
15:23:05.665 make_crepe_action fold started
15:23:05.671 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
15:23:05.674 duet1.duet_comm GCODE: G1 B10 F6000
15:23:05.689 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:23:05.703 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
15:23:17.962 make_crepe_action fold started
15:23:17.961 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:23:17.981 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
15:23:26.091 make_crepe_action push_off started
15:23:26.099 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
15:23:34.951 duet1.duet_comm GCODE: G91 G1 U2.5 G90
15:23:34.952 make_crepe_action wipe_spatula started
15:23:34.975 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