Video

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Frame Analysis

20:50:04 1:54 observation 20:51:58
1 20:50:32
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2 20:51:01
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3 20:51:29
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Phases

Phase Detail Progress Time Elapsed
init 0% 21:50:04 0.006s
prepare 0.000005520730155694764% 21:50:04 0.008s
oiling 0.02303171716630459% 21:50:07 2.304s
spread_dough 0.10302887856960297% 21:50:15 10.307s
cook 0.26162290573120117% 21:50:31 26.176s
add_topping 0.561638593673706% 21:51:01 56.165s
fold 0.7785792946815491% 21:51:22 77.887s
push_off 0.9686827063560486% 21:51:41 96.895s
wipe_spatula 1% 21:51:50 105.752s

Machine Logs

21:50:04.884 crepe_log_node Action status update: 1
21:50:04.885 make_crepe_action Executing make_crepe action
21:50:04.886 make_crepe_action prepare started
21:50:04.887 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-21_21-50-04/session.json
21:50:04.889 crepe_log_node Action status update: 2
21:50:04.899 duet1.duet_comm GCODE: G28 X Y
21:50:04.906 duet1.duet_comm GCODE: G92 A0
21:50:04.914 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
21:50:07.189 make_crepe_action oiling started
21:50:07.190 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
21:50:07.192 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
21:50:09.189 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
21:50:09.234 duet1.duet_comm RUN MACRO: oiling_optimized.g
21:50:10.038 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
21:50:13.629 make_crepe_action wait_until: timeout waiting for idle
21:50:13.635 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
21:50:13.646 duet1.duet_comm GCODE: G92 A0
21:50:15.191 make_crepe_action spread_dough started
21:50:15.195 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
21:50:15.199 duet2.duet_comm GCODE: M106 P3 S0.95
21:50:15.204 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
21:50:16.481 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
21:50:16.480 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
21:50:17.277 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
21:50:17.282 duet1.duet_comm RUN MACRO: dough_spread_air.g
21:50:17.314 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
21:50:31.046 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
21:50:31.048 make_crepe_action cook started
21:50:31.054 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
21:50:31.064 duet2.duet_comm GCODE: M106 P3 S0
21:51:01.050 make_crepe_action add_topping started
21:51:01.051 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
21:51:01.056 duet1.duet_comm UPLOAD MACRO: eth-logo_E.g G93 G1 A-22 B217 F260.00 G1 A-28 B212 F260.00 G1 A-34 B206 F260.00 G1 A-39 B200 F260.00 G1 A-44 B194 F260.00 G1 A-48 B201 F260.00 G1 A-53 B208 F260.00 G1 A-58 B214 F260.00 G1 A-54 B223 F260.00 G1 A-48 B231 F260.00 G1 A-50 B228 F260.00 G1 A-55 B220 F260.00 G1 A-60 B214 F260.00 G1 A-66 B219 F260.00 G1 A-74 B222 F260.00 G1 A-82 B224 F260.00 G1 A-81 B234 F260.00 G1 A-79 B244 F260.00 G1 A-77 B255 F260.00 G1 A-73 B265 F260.00 G94
21:51:01.098 duet1.duet_comm UPLOAD MACRO: eth-logo_T.g G93 G1 A-15 B220 F260.00 G1 A-8 B222 F260.00 G1 A0 B223 F260.00 G1 A8 B222 F260.00 G1 A16 B221 F260.00 G1 A13 B221 F260.00 G1 A5 B223 F260.00 G1 A2 B228 F260.00 G1 A2 B238 F260.00 G1 A2 B249 F260.00 G1 A3 B259 F260.00 G1 A4 B269 F260.00 G1 A6 B279 F260.00 G1 A14 B290 F260.00 G94
21:51:01.168 duet1.duet_comm UPLOAD MACRO: eth-logo_H.g G93 G1 A27 B215 F260.00 G1 A31 B224 F260.00 G1 A35 B232 F260.00 G1 A41 B240 F260.00 G1 A49 B248 F260.00 G1 A59 B254 F260.00 G1 A71 B259 F260.00 G1 A75 B260 F260.00 G1 A61 B255 F260.00 G1 A51 B249 F260.00 G1 A46 B242 F260.00 G1 A52 B235 F260.00 G1 A57 B227 F260.00 G1 A61 B218 F260.00 G1 A64 B210 F260.00 G1 A70 B211 F260.00 G1 A76 B214 F260.00 G1 A83 B216 F260.00 G1 A81 B216 F260.00 G1 A74 B213 F260.00 G1 A68 B210 F260.00 G1 A62 B206 F260.00 G1 A57 B200 F260.00 G1 A52 B194 F260.00 G1 A48 B188 F260.00 G94
21:51:01.216 make_crepe_action Uploaded 3 path macros. Starting execution.: [{'name': 'eth-logo_E.g', 'length': 199.916, 'start_coord': {'d': 216.506, 'rot': -21.543}, 'g_code': 'G93\nG1 A-22 B217 F260.00\nG1 A-28 B212 F260.00\nG1 A-34 B206 F260.00\nG1 A-39 B200 F260.00\nG1 A-44 B194 F260.00\nG1 A-48 B201 F260.00\nG1 A-53 B208 F260.00\nG1 A-58 B214 F260.00\nG1 A-54 B223 F260.00\nG1 A-48 B231 F260.00\nG1 A-50 B228 F260.00\nG1 A-55 B220 F260.00\nG1 A-60 B214 F260.00\nG1 A-66 B219 F260.00\nG1 A-74 B222 F260.00\nG1 A-82 B224 F260.00\nG1 A-81 B234 F260.00\nG1 A-79 B244 F260.00\nG1 A-77 B255 F260.00\nG1 A-73 B265 F260.00\nG94'}, {'name': 'eth-logo_T.g', 'length': 133.034, 'start_coord': {'d': 219.704, 'rot': -15.069}, 'g_code': 'G93\nG1 A-15 B220 F260.00\nG1 A-8 B222 F260.00\nG1 A0 B223 F260.00\nG1 A8 B222 F260.00\nG1 A16 B221 F260.00\nG1 A13 B221 F260.00\nG1 A5 B223 F260.00\nG1 A2 B228 F260.00\nG1 A2 B238 F260.00\nG1 A2 B249 F260.00\nG1 A3 B259 F260.00\nG1 A4 B269 F260.00\nG1 A6 B279 F260.00\nG1 A14 B290 F260.00\nG94'}, {'name': 'eth-logo_H.g', 'length': 240.948, 'start_coord': {'d': 214.672, 'rot': 27.177}, 'g_code': 'G93\nG1 A27 B215 F260.00\nG1 A31 B224 F260.00\nG1 A35 B232 F260.00\nG1 A41 B240 F260.00\nG1 A49 B248 F260.00\nG1 A59 B254 F260.00\nG1 A71 B259 F260.00\nG1 A75 B260 F260.00\nG1 A61 B255 F260.00\nG1 A51 B249 F260.00\nG1 A46 B242 F260.00\nG1 A52 B235 F260.00\nG1 A57 B227 F260.00\nG1 A61 B218 F260.00\nG1 A64 B210 F260.00\nG1 A70 B211 F260.00\nG1 A76 B214 F260.00\nG1 A83 B216 F260.00\nG1 A81 B216 F260.00\nG1 A74 B213 F260.00\nG1 A68 B210 F260.00\nG1 A62 B206 F260.00\nG1 A57 B200 F260.00\nG1 A52 B194 F260.00\nG1 A48 B188 F260.00\nG94'}]
21:51:01.230 duet1.duet_comm GCODE: G1 A-22 B217 F6000
21:51:03.467 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
21:51:04.769 duet2.duet_comm GCODE: T2 G1 E8.627329215353784 F112.20240480961925
21:51:04.775 duet1.duet_comm RUN MACRO: eth-logo_E.g
21:51:10.040 duet1.duet_comm GCODE: G1 A-15 B220 F6000
21:51:11.188 duet2.duet_comm GCODE: T2 G1 E5.741051815939572 F112.20240480961925
21:51:11.193 duet1.duet_comm RUN MACRO: eth-logo_T.g
21:51:15.165 duet1.duet_comm GCODE: G1 A27 B215 F6000
21:51:16.617 duet2.duet_comm GCODE: T2 G1 E10.3980557823339 F112.20240480961925
21:51:16.618 duet1.duet_comm RUN MACRO: eth-logo_H.g
21:51:22.744 make_crepe_action fold started
21:51:22.746 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
21:51:22.775 duet1.duet_comm GCODE: G1 B10 F6000
21:51:22.784 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
21:51:22.794 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
21:51:33.617 make_crepe_action fold started
21:51:33.625 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
21:51:33.643 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
21:51:41.754 make_crepe_action push_off started
21:51:41.757 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
21:51:50.613 make_crepe_action wipe_spatula started
21:51:50.616 duet1.duet_comm GCODE: G91 G1 U2.5 G90
21:51:50.638 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