Video

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Frame Analysis

23:54:07 1:50 observation 23:55:57
1 23:54:34
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2 23:55:02
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3 23:55:29
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Phases

Phase Detail Progress Time Elapsed
init 0% 00:54:07 0.007s
prepare 0.0000024609400952613214% 00:54:07 0.011s
oiling 0.026880938559770584% 00:54:10 2.714s
spread_dough 0.10698726773262024% 00:54:18 10.731s
cook 0.26549509167671204% 00:54:34 26.551s
add_topping 0.5655248165130615% 00:55:04 56.571s
fold 0.738228976726532% 00:55:21 73.844s
push_off 0.9283430576324463% 00:55:40 92.861s
wipe_spatula 1% 00:55:49 101.722s

Machine Logs

00:54:07.922 make_crepe_action Executing make_crepe action
00:54:07.923 crepe_log_node Action status update: 1
00:54:07.925 make_crepe_action prepare started
00:54:07.926 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_00-54-07/session.json
00:54:07.927 duet1.duet_comm GCODE: G28 X Y
00:54:07.928 crepe_log_node Action status update: 2
00:54:07.936 duet1.duet_comm GCODE: G92 A0
00:54:07.945 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
00:54:10.612 make_crepe_action oiling started
00:54:10.612 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
00:54:10.615 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
00:54:12.614 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
00:54:12.659 duet1.duet_comm RUN MACRO: oiling_optimized.g
00:54:13.460 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
00:54:17.025 make_crepe_action wait_until: timeout waiting for idle
00:54:17.027 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
00:54:17.044 duet1.duet_comm GCODE: G92 A0
00:54:18.622 make_crepe_action spread_dough started
00:54:18.625 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
00:54:18.630 duet2.duet_comm GCODE: M106 P3 S0.95
00:54:18.629 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
00:54:19.906 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
00:54:19.908 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
00:54:20.707 duet1.duet_comm RUN MACRO: dough_spread_air.g
00:54:20.711 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
00:54:20.721 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
00:54:34.473 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
00:54:34.473 make_crepe_action cook started
00:54:34.473 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
00:54:34.485 duet2.duet_comm GCODE: M106 P3 S0
00:55:04.476 make_crepe_action add_topping started
00:55:04.478 make_crepe_action Topping: blueberry, Port: 3, Density: 0.016, Flowrate: 1.1, DM: 285.0, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.014545454545454545
00:55:04.485 duet1.duet_comm UPLOAD MACRO: eth-logo_E.g G93 G1 A-22 B204 F412.50 G1 A-28 B199 F412.50 G1 A-34 B194 F412.50 G1 A-39 B187 F412.50 G1 A-44 B181 F412.50 G1 A-48 B189 F412.50 G1 A-53 B195 F412.50 G1 A-58 B201 F412.50 G1 A-54 B210 F412.50 G1 A-48 B218 F412.50 G1 A-50 B216 F412.50 G1 A-55 B207 F412.50 G1 A-60 B202 F412.50 G1 A-66 B206 F412.50 G1 A-74 B210 F412.50 G1 A-82 B212 F412.50 G1 A-81 B221 F412.50 G1 A-79 B232 F412.50 G1 A-77 B242 F412.50 G1 A-73 B253 F412.50 G94
00:55:04.530 duet1.duet_comm UPLOAD MACRO: eth-logo_T.g G93 G1 A-15 B207 F412.50 G1 A-8 B209 F412.50 G1 A0 B210 F412.50 G1 A8 B210 F412.50 G1 A16 B208 F412.50 G1 A13 B209 F412.50 G1 A5 B210 F412.50 G1 A2 B216 F412.50 G1 A2 B226 F412.50 G1 A2 B236 F412.50 G1 A3 B246 F412.50 G1 A4 B257 F412.50 G1 A6 B267 F412.50 G1 A14 B277 F412.50 G94
00:55:04.578 make_crepe_action Uploaded 3 path macros. Starting execution.: [{'name': 'eth-logo_E.g', 'length': 199.916, 'start_coord': {'d': 204.006, 'rot': -21.543}, 'g_code': 'G93\nG1 A-22 B204 F412.50\nG1 A-28 B199 F412.50\nG1 A-34 B194 F412.50\nG1 A-39 B187 F412.50\nG1 A-44 B181 F412.50\nG1 A-48 B189 F412.50\nG1 A-53 B195 F412.50\nG1 A-58 B201 F412.50\nG1 A-54 B210 F412.50\nG1 A-48 B218 F412.50\nG1 A-50 B216 F412.50\nG1 A-55 B207 F412.50\nG1 A-60 B202 F412.50\nG1 A-66 B206 F412.50\nG1 A-74 B210 F412.50\nG1 A-82 B212 F412.50\nG1 A-81 B221 F412.50\nG1 A-79 B232 F412.50\nG1 A-77 B242 F412.50\nG1 A-73 B253 F412.50\nG94'}, {'name': 'eth-logo_T.g', 'length': 133.034, 'start_coord': {'d': 207.204, 'rot': -15.069}, 'g_code': 'G93\nG1 A-15 B207 F412.50\nG1 A-8 B209 F412.50\nG1 A0 B210 F412.50\nG1 A8 B210 F412.50\nG1 A16 B208 F412.50\nG1 A13 B209 F412.50\nG1 A5 B210 F412.50\nG1 A2 B216 F412.50\nG1 A2 B226 F412.50\nG1 A2 B236 F412.50\nG1 A3 B246 F412.50\nG1 A4 B257 F412.50\nG1 A6 B267 F412.50\nG1 A14 B277 F412.50\nG94'}, {'name': 'eth-logo_H.g', 'length': 240.948, 'start_coord': {'d': 202.172, 'rot': 27.177}, 'g_code': 'G93\nG1 A27 B202 F412.50\nG1 A31 B211 F412.50\nG1 A35 B220 F412.50\nG1 A41 B228 F412.50\nG1 A49 B235 F412.50\nG1 A59 B242 F412.50\nG1 A71 B246 F412.50\nG1 A75 B247 F412.50\nG1 A61 B243 F412.50\nG1 A51 B237 F412.50\nG1 A46 B230 F412.50\nG1 A52 B222 F412.50\nG1 A57 B214 F412.50\nG1 A61 B206 F412.50\nG1 A64 B197 F412.50\nG1 A70 B198 F412.50\nG1 A76 B202 F412.50\nG1 A83 B204 F412.50\nG1 A81 B203 F412.50\nG1 A74 B201 F412.50\nG1 A68 B197 F412.50\nG1 A62 B193 F412.50\nG1 A57 B188 F412.50\nG1 A52 B182 F412.50\nG1 A48 B175 F412.50\nG94'}]
00:55:04.579 duet1.duet_comm UPLOAD MACRO: eth-logo_H.g G93 G1 A27 B202 F412.50 G1 A31 B211 F412.50 G1 A35 B220 F412.50 G1 A41 B228 F412.50 G1 A49 B235 F412.50 G1 A59 B242 F412.50 G1 A71 B246 F412.50 G1 A75 B247 F412.50 G1 A61 B243 F412.50 G1 A51 B237 F412.50 G1 A46 B230 F412.50 G1 A52 B222 F412.50 G1 A57 B214 F412.50 G1 A61 B206 F412.50 G1 A64 B197 F412.50 G1 A70 B198 F412.50 G1 A76 B202 F412.50 G1 A83 B204 F412.50 G1 A81 B203 F412.50 G1 A74 B201 F412.50 G1 A68 B197 F412.50 G1 A62 B193 F412.50 G1 A57 B188 F412.50 G1 A52 B182 F412.50 G1 A48 B175 F412.50 G94
00:55:04.646 duet1.duet_comm GCODE: G1 A-22 B204 F6000
00:55:06.758 duet2.duet_comm GCODE: T3 G1 E1.4003740814963264 F105.02805611222446
00:55:08.059 duet1.duet_comm RUN MACRO: eth-logo_E.g
00:55:08.062 duet2.duet_comm GCODE: T3 G1 E4.1861077383858625 F86.374749498998
00:55:11.900 duet1.duet_comm GCODE: G1 A-15 B207 F6000
00:55:13.613 duet2.duet_comm GCODE: T3 G1 E2.7856432545090177 F86.374749498998
00:55:13.616 duet1.duet_comm RUN MACRO: eth-logo_T.g
00:55:16.024 duet1.duet_comm GCODE: G1 A27 B202 F6000
00:55:17.487 duet2.duet_comm GCODE: T3 G1 E5.0452904587356535 F86.374749498998
00:55:17.490 duet1.duet_comm RUN MACRO: eth-logo_H.g
00:55:21.747 duet2.duet_comm GCODE: T3 G1 E-0.58249832999332 F43.687374749499
00:55:21.747 make_crepe_action fold started
00:55:21.765 duet1.duet_comm GCODE: G1 B10 F6000
00:55:21.777 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
00:55:21.786 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
00:55:32.621 make_crepe_action fold started
00:55:32.624 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
00:55:32.641 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
00:55:40.758 make_crepe_action push_off started
00:55:40.767 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
00:55:49.617 make_crepe_action wipe_spatula started
00:55:49.619 duet1.duet_comm GCODE: G91 G1 U2.5 G90
00:55:49.639 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