Video

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Frame Analysis

22:35:55 1:52 observation 22:37:47
1 22:36:23
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2 22:36:51
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3 22:37:19
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Phases

Phase Detail Progress Time Elapsed
init 0% 23:35:55 0.007s
prepare 0.000002558010010034195% 23:35:55 0.012s
oiling 0.026747753843665123% 23:35:58 2.699s
spread_dough 0.10671056807041168% 23:36:06 10.672s
cook 0.26388660073280334% 23:36:22 26.393s
add_topping 0.5639256238937378% 23:36:52 56.403s
fold 0.7639501094818115% 23:37:12 76.426s
push_off 0.9439083933830261% 23:37:30 94.400s
wipe_spatula 1% 23:37:39 103.404s

Machine Logs

23:35:55.941 crepe_log_node Action status update: 4, 1
23:35:55.941 make_crepe_action Executing make_crepe action
23:35:55.942 make_crepe_action prepare started
23:35:55.944 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-21_23-35-55/session.json
23:35:55.947 duet1.duet_comm GCODE: G28 X Y
23:35:55.948 crepe_log_node Action status update: 4, 2
23:35:55.957 duet1.duet_comm GCODE: G92 A0
23:35:55.966 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
23:35:57.911 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-21_23-33-59/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1051-0fd6e1e7.mp4?X-Amz-Expires=3600&X-Amz-Date=20260321T223556Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260321%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=2c0d7b33605fd442b71ea8ba850b928cbc280feafa6dfbfaa123bc31e2439742
23:35:58.617 make_crepe_action oiling started
23:35:58.620 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
23:35:58.631 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
23:36:00.612 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
23:36:00.657 duet1.duet_comm RUN MACRO: oiling_optimized.g
23:36:01.458 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
23:36:05.027 make_crepe_action wait_until: timeout waiting for idle
23:36:05.031 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
23:36:05.047 duet1.duet_comm GCODE: G92 A0
23:36:06.614 make_crepe_action spread_dough started
23:36:06.615 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
23:36:06.619 duet2.duet_comm GCODE: M106 P3 S0.95
23:36:06.620 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
23:36:07.902 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
23:36:07.901 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
23:36:08.703 duet1.duet_comm RUN MACRO: dough_spread_air.g
23:36:08.705 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
23:36:08.717 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
23:36:22.331 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
23:36:22.331 make_crepe_action cook started
23:36:22.336 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
23:36:22.346 duet2.duet_comm GCODE: M106 P3 S0
23:36:52.334 make_crepe_action add_topping started
23:36:52.335 make_crepe_action No topping selected for shape, skipping
23:37:12.337 make_crepe_action fold started
23:37:12.337 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
23:37:12.351 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
23:37:22.189 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
23:37:22.190 make_crepe_action fold started
23:37:22.203 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
23:37:30.333 make_crepe_action push_off started
23:37:30.339 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
23:37:39.326 make_crepe_action wipe_spatula started
23:37:39.329 duet1.duet_comm GCODE: G91 G1 U2.5 G90
23:37:39.347 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