Video

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Frame Analysis

00:47:59 1:50 observation 00:49:49
1 00:48:26
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2 00:48:54
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3 00:49:21
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Phases

Phase Detail Progress Time Elapsed
init 0% 01:47:59 0.007s
prepare 0.0000025359499886690173% 01:47:59 0.010s
oiling 0.026424583047628403% 01:48:01 2.656s
spread_dough 0.10072176903486252% 01:48:09 10.073s
cook 0.25786393880844116% 01:48:24 25.789s
add_topping 0.5578827261924744% 01:48:54 55.806s
fold 0.7579725384712219% 01:49:14 75.798s
push_off 0.9378684759140015% 01:49:32 93.801s
wipe_spatula 1% 01:49:41 102.657s

Machine Logs

01:47:59.114 make_crepe_action Executing make_crepe action
01:47:59.114 crepe_log_node Action status update: 1
01:47:59.116 make_crepe_action prepare started
01:47:59.118 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_01-47-59/session.json
01:47:59.120 duet1.duet_comm GCODE: G28 X Y
01:47:59.121 crepe_log_node Action status update: 2
01:47:59.131 duet1.duet_comm GCODE: G92 A0
01:47:59.140 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
01:48:01.758 make_crepe_action oiling started
01:48:01.759 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
01:48:01.763 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
01:48:03.183 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
01:48:03.261 duet1.duet_comm RUN MACRO: oiling_optimized.g
01:48:04.063 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
01:48:07.621 make_crepe_action wait_until: timeout waiting for idle
01:48:07.623 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
01:48:07.625 duet1.duet_comm GCODE: G92 A0
01:48:09.189 make_crepe_action spread_dough started
01:48:09.189 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
01:48:09.195 duet2.duet_comm GCODE: M106 P3 S0.95
01:48:09.194 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
01:48:10.473 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
01:48:10.474 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
01:48:11.275 duet1.duet_comm RUN MACRO: dough_spread_air.g
01:48:11.278 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
01:48:11.289 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
01:48:24.902 make_crepe_action cook started
01:48:24.902 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
01:48:24.904 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
01:48:24.917 duet2.duet_comm GCODE: M106 P3 S0
01:48:54.904 make_crepe_action add_topping started
01:48:54.910 make_crepe_action No topping selected for shape, skipping
01:49:14.913 make_crepe_action fold started
01:49:14.915 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
01:49:14.925 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
01:49:24.759 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
01:49:24.761 make_crepe_action fold started
01:49:24.770 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
01:49:32.902 make_crepe_action push_off started
01:49:32.910 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
01:49:41.753 make_crepe_action wipe_spatula started
01:49:41.755 duet1.duet_comm GCODE: G91 G1 U2.5 G90
01:49:41.772 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