Video

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Frame Analysis

22:19:06 0:28 observation 22:19:34
1 22:19:13
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2 22:19:20
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3 22:19:27
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Phases

Phase Detail Progress Time Elapsed
init 0% 23:19:06 0.006s
prepare 0.000002524450110286125% 23:19:06 0.009s
oiling 0.026557106524705887% 23:19:09 2.682s
spread_dough 0.10656093806028366% 23:19:17 10.657s

Machine Logs

23:19:06.964 make_crepe_action Executing make_crepe action
23:19:06.964 crepe_log_node Action status update: 1
23:19:06.965 make_crepe_action prepare started
23:19:06.967 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-20_23-19-06/session.json
23:19:06.969 crepe_log_node Action status update: 2
23:19:06.969 duet1.duet_comm GCODE: G28 X Y
23:19:06.978 duet1.duet_comm GCODE: G92 A0
23:19:06.988 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
23:19:09.621 make_crepe_action oiling started
23:19:09.621 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
23:19:09.623 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
23:19:11.624 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
23:19:11.672 duet1.duet_comm RUN MACRO: oiling_optimized.g
23:19:12.476 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
23:19:16.057 make_crepe_action wait_until: timeout waiting for idle
23:19:16.062 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
23:19:16.067 duet1.duet_comm GCODE: G92 A0
23:19:17.621 make_crepe_action spread_dough started
23:19:17.622 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
23:19:17.628 duet2.duet_comm GCODE: M106 P3 S0.95
23:19:17.635 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
23:19:18.911 duet1.duet_comm UPLOAD MACRO: dough_spread_air.g G93 G1 A1.0 B204.5 F238.45 G1 A22.0 B197.5 F238.45 G1 A43.3 B190.4 F238.45 G1 A65.0 B183.4 F238.45 G1 A87.0 B176.3 F238.45 G1 A109.5 B176.6 F238.45 G1 A132.3 B179.1 F238.45 G1 A155.6 B181.7 F238.45 G1 A179.3 B184.3 F238.45 G1 A203.5 B187.0 F238.45 G1 A228.1 B189.8 F238.45 G1 A253.3 B192.6 F238.45 G1 A279.0 B195.4 F238.45 G1 A305.3 B198.3 F238.45 G1 A332.3 B201.3 F238.45 G1 A359.9 B204.4 F238.45 G1 A388.3 B207.6 F238.45 G1 A417.5 B210.8 F238.45 G1 A447.5 B214.1 F238.45 G1 A478.5 B217.6 F238.45 G1 A510.6 B221.1 F238.45 G1 A543.8 B224.8 F238.45 G1 A578.4 B228.6 F238.45 G1 A614.4 B232.6 F238.45 G1 A652.1 B236.8 F238.45 G1 A691.7 B241.2 F238.45 G1 A733.7 B245.9 F238.45 G1 A778.3 B250.8 F238.45 G1 A826.3 B256.1 F238.45 G1 A878.5 B261.9 F238.45 G94 G1 A1512.0 B322.5 F13000.0 G1 A1872.0 F13000.0 G1 X0 Y0 Z0 B10 C5 F20000 G92 A0
23:19:18.913 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
23:19:19.713 duet1.duet_comm RUN MACRO: dough_spread_air.g
23:19:19.713 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
23:19:19.722 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
23:19:23.558 crepe_log_node Action status update: 3
23:19:33.338 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
23:19:33.338 make_crepe_action Cancel requested, stopping execution
23:19:33.479 make_crepe_action duet1 busy on cancel, sending M0

Comments

Parameters

dispense.dough

cook_time 30
density 0.0012
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","blueberry"]
svg_design_center [200,200]
svg_file_path /home/maus/ros2_ws/src/recipe_runner/recipe_runner/svg_designs/eth-logo.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.blueberry

density 0.016
description Fruchtige Blaubeeren - ein absoluter Must-Have.
display_name Blaubeeren
dm 285
flowrate 1.1
max_g_per_rot 0.88
name blueberry
port 3
price 7
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.023
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