Video

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Frame Analysis

19:57:56 1:51 observation 19:59:47
1 19:58:23
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2 19:58:51
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3 19:59:19
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Phases

Phase Detail Progress Time Elapsed
init 0% 20:57:56 0.006s
prepare 0.0000030594699182984186% 20:57:56 0.010s
oiling 0.02653629332780838% 20:57:59 2.676s
spread_dough 0.10089270770549774% 20:58:06 10.091s
cook 0.25954875349998474% 20:58:22 25.958s
add_topping 0.5595671534538269% 20:58:52 55.980s
fold 0.7595958709716797% 20:59:12 75.960s
push_off 0.9394729137420654% 20:59:30 93.978s
wipe_spatula 1% 20:59:39 102.831s

Machine Logs

20:57:56.386 make_crepe_action Executing make_crepe action
20:57:56.386 crepe_log_node Action status update: 1
20:57:56.387 make_crepe_action prepare started
20:57:56.389 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-21_20-57-56/session.json
20:57:56.391 crepe_log_node Action status update: 2
20:57:56.392 duet1.duet_comm GCODE: G28 X Y
20:57:56.401 duet1.duet_comm GCODE: G92 A0
20:57:56.409 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
20:57:59.040 make_crepe_action oiling started
20:57:59.042 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
20:57:59.048 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
20:58:00.474 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
20:58:00.520 duet1.duet_comm RUN MACRO: oiling_optimized.g
20:58:01.321 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
20:58:04.908 make_crepe_action wait_until: timeout waiting for idle
20:58:04.912 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
20:58:04.913 duet1.duet_comm GCODE: G92 A0
20:58:06.476 make_crepe_action spread_dough started
20:58:06.478 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
20:58:06.480 duet2.duet_comm GCODE: M106 P3 S0.95
20:58:06.485 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
20:58:07.757 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
20:58:07.755 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
20:58:08.561 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
20:58:08.563 duet1.duet_comm RUN MACRO: dough_spread_air.g
20:58:08.573 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
20:58:22.340 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
20:58:22.342 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
20:58:22.342 make_crepe_action cook started
20:58:22.353 duet2.duet_comm GCODE: M106 P3 S0
20:58:52.344 make_crepe_action add_topping started
20:58:52.344 make_crepe_action No topping selected for shape, skipping
20:59:12.347 make_crepe_action fold started
20:59:12.348 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
20:59:12.363 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
20:59:22.186 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
20:59:22.190 make_crepe_action fold started
20:59:22.204 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
20:59:30.334 make_crepe_action push_off started
20:59:30.340 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
20:59:39.191 make_crepe_action wipe_spatula started
20:59:39.200 duet1.duet_comm GCODE: G91 G1 U2.5 G90
20:59:39.216 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 0.0012
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