Video

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Frame Analysis

18:46:11 0:57 observation 18:47:08
1 18:46:25
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2 18:46:39
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3 18:46:53
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Phases

Phase Detail Progress Time Elapsed
init 0% 19:46:11 0.006s
prepare 0.0000024029600353969727% 19:46:11 0.010s
oiling 0.0254969485104084% 19:46:14 2.560s
spread_dough 0.10541225969791412% 19:46:22 10.569s
cook 0.25833791494369507% 19:46:37 25.849s

Machine Logs

19:46:11.926 make_crepe_action Executing make_crepe action
19:46:11.926 crepe_log_node Action status update: 1
19:46:11.927 make_crepe_action prepare started
19:46:11.929 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-21_19-46-11/session.json
19:46:11.931 crepe_log_node Action status update: 2
19:46:11.932 duet1.duet_comm GCODE: G28 X Y
19:46:11.941 duet1.duet_comm GCODE: G92 A0
19:46:11.946 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
19:46:14.477 make_crepe_action oiling started
19:46:14.477 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
19:46:14.481 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
19:46:16.475 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
19:46:16.542 duet1.duet_comm RUN MACRO: oiling_optimized.g
19:46:17.343 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
19:46:20.902 make_crepe_action wait_until: timeout waiting for idle
19:46:20.904 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
19:46:20.907 duet1.duet_comm GCODE: G92 A0
19:46:22.468 make_crepe_action spread_dough started
19:46:22.471 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
19:46:22.476 duet2.duet_comm GCODE: M106 P3 S0.95
19:46:22.476 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
19:46:23.192 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
19:46:23.192 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
19:46:23.993 duet1.duet_comm RUN MACRO: dough_spread_air.g
19:46:23.994 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
19:46:24.003 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
19:46:37.761 make_crepe_action cook started
19:46:37.762 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
19:46:37.765 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
19:46:37.775 duet2.duet_comm GCODE: M106 P3 S0
19:46:42.528 crepe_log_node Action status update: 3
19:47:07.763 make_crepe_action Cancel requested, stopping execution
19:47:07.896 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","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