Video

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Frame Analysis

22:10:29 1:51 observation 22:12:20
1 22:10:56
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2 22:11:24
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3 22:11:52
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Phases

Phase Detail Progress Time Elapsed
init 0% 23:10:29 0.009s
prepare 0.000003939259840990417% 23:10:29 0.010s
oiling 0.02608725056052208% 23:10:31 2.609s
spread_dough 0.10616455972194672% 23:10:39 10.617s
cook 0.26466041803359985% 23:10:55 26.476s
add_topping 0.5646761059761047% 23:11:25 56.469s
fold 0.7647112607955933% 23:11:45 76.473s
push_off 0.9446704387664795% 23:12:03 94.469s
wipe_spatula 1% 23:12:12 103.365s

Machine Logs

23:10:29.004 make_crepe_action Executing make_crepe action
23:10:29.004 crepe_log_node Action status update: 1
23:10:29.006 make_crepe_action prepare started
23:10:29.008 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-21_23-10-29/session.json
23:10:29.010 duet1.duet_comm GCODE: G28 X Y
23:10:29.011 crepe_log_node Action status update: 2
23:10:29.018 duet1.duet_comm GCODE: G92 A0
23:10:29.042 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
23:10:31.614 make_crepe_action oiling started
23:10:31.615 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
23:10:31.619 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
23:10:33.617 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
23:10:33.664 duet1.duet_comm RUN MACRO: oiling_optimized.g
23:10:34.465 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
23:10:38.050 make_crepe_action wait_until: timeout waiting for idle
23:10:38.053 duet1.duet_comm GCODE: G92 A0
23:10:38.056 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
23:10:39.622 make_crepe_action spread_dough started
23:10:39.624 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
23:10:39.627 duet2.duet_comm GCODE: M106 P3 S0.95
23:10:39.636 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
23:10:40.909 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
23:10:40.910 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
23:10:41.710 duet1.duet_comm RUN MACRO: dough_spread_air.g
23:10:41.710 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
23:10:41.722 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
23:10:55.471 make_crepe_action cook started
23:10:55.477 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
23:10:55.475 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
23:10:55.489 duet2.duet_comm GCODE: M106 P3 S0
23:11:25.473 make_crepe_action add_topping started
23:11:25.474 make_crepe_action No topping selected for shape, skipping
23:11:45.477 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
23:11:45.478 make_crepe_action fold started
23:11:45.491 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
23:11:55.330 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
23:11:55.333 make_crepe_action fold started
23:11:55.352 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
23:12:03.473 make_crepe_action push_off started
23:12:03.480 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
23:12:12.329 make_crepe_action wipe_spatula started
23:12:12.333 duet1.duet_comm GCODE: G91 G1 U2.5 G90
23:12:12.361 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