Video

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Frame Analysis

14:34:26 1:50 observation 14:36:16
1 14:34:53
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2 14:35:21
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3 14:35:48
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:34:26 0.005s
prepare 0.000004409259872772964% 15:34:26 0.010s
oiling 0.026226727291941643% 15:34:28 2.624s
spread_dough 0.10617055743932724% 15:34:36 10.618s
cook 0.251966267824173% 15:34:51 25.233s
add_topping 0.5519862771034241% 15:35:21 55.203s
fold 0.7261479496955872% 15:35:38 72.628s
push_off 0.9318791627883911% 15:35:59 93.197s
wipe_spatula 1% 15:36:08 102.060s

Machine Logs

15:34:26.192 crepe_log_node Action status update: 1
15:34:26.192 make_crepe_action Executing make_crepe action
15:34:26.194 make_crepe_action prepare started
15:34:26.194 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_15-34-26/session.json
15:34:26.196 crepe_log_node Action status update: 2
15:34:26.200 duet1.duet_comm GCODE: G28 X Y
15:34:26.210 duet1.duet_comm GCODE: G92 A0
15:34:26.242 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:34:28.816 make_crepe_action oiling started
15:34:28.817 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
15:34:28.819 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:34:30.808 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
15:34:30.855 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:34:31.662 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:34:35.217 make_crepe_action wait_until: timeout waiting for idle
15:34:35.220 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:34:35.234 duet1.duet_comm GCODE: G92 A0
15:34:36.811 make_crepe_action spread_dough started
15:34:36.814 make_crepe_action Full Duration: 7.1s; Speed: 275.0 mm/s; r_critical: 72.7mm; r_stop: 72.7mm ;duration_stop: 5.6s
15:34:36.817 duet2.duet_comm GCODE: M106 P3 S0.95
15:34:36.820 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:34:38.099 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:34:38.100 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
15:34:38.900 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:34:38.900 duet2.duet_comm GCODE: T0 G1 E21.767305299678092 F232.4188376753507
15:34:38.913 duet2.duet_comm GCODE: T0 G1 E5.7324277759647595 F201.0941883767535
15:34:51.390 make_crepe_action cook started
15:34:51.390 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:34:51.392 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:34:51.406 duet2.duet_comm GCODE: M106 P3 S0
15:35:21.393 make_crepe_action add_topping started
15:35:21.395 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
15:35:21.402 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
15:35:21.541 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
15:35:21.606 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'}]
15:35:21.608 duet1.duet_comm GCODE: G1 A-38 B195 F6000
15:35:23.667 duet2.duet_comm GCODE: T1 G1 E1.4003740814963264 F105.02805611222446
15:35:24.968 duet1.duet_comm RUN MACRO: maus-image_maus-body.g
15:35:24.968 duet2.duet_comm GCODE: T1 G1 E12.016835064573593 F66.2865731462926
15:35:37.243 duet1.duet_comm GCODE: G1 A-32 B219 F6000
15:35:37.664 duet1.duet_comm RUN MACRO: maus-image_maus-eye.g
15:35:37.665 duet2.duet_comm GCODE: T1 G1 E1.1047762191048767 F66.2865731462926
15:35:38.808 duet1.duet_comm GCODE: G1 B10 F6000
15:35:38.808 make_crepe_action fold started
15:35:38.812 duet2.duet_comm GCODE: T1 G1 E-0.58249832999332 F43.687374749499
15:35:38.831 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:35:38.846 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
15:35:51.241 make_crepe_action fold started
15:35:51.244 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:35:51.257 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
15:35:59.383 make_crepe_action push_off started
15:35:59.395 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
15:36:08.231 duet1.duet_comm GCODE: G91 G1 U2.5 G90
15:36:08.231 make_crepe_action wipe_spatula started
15:36:08.250 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