Video

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Frame Analysis

01:10:47 1:51 observation 01:12:38
1 01:11:14
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2 01:11:42
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3 01:12:10
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Phases

Phase Detail Progress Time Elapsed
init 0% 02:10:47 0.021s
prepare 0.00001103135036828462% 02:10:47 0.023s
oiling 0.025992704555392265% 02:10:49 2.615s
spread_dough 0.10598346590995789% 02:10:57 10.627s
cook 0.26312652230262756% 02:11:13 26.347s
add_topping 0.5631575584411621% 02:11:43 56.325s
fold 0.7631868720054626% 02:12:03 76.341s
push_off 0.9431186318397522% 02:12:21 94.313s
wipe_spatula 1% 02:12:30 103.174s

Machine Logs

02:10:47.015 make_crepe_action Executing make_crepe action
02:10:47.015 crepe_log_node Action status update: 4, 1
02:10:47.017 make_crepe_action prepare started
02:10:47.019 duet1.duet_comm GCODE: G28 X Y
02:10:47.021 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_02-10-47/session.json
02:10:47.024 crepe_log_node Action status update: 4, 2
02:10:47.043 duet1.duet_comm GCODE: G92 A0
02:10:47.052 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
02:10:49.619 make_crepe_action oiling started
02:10:49.622 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
02:10:49.632 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
02:10:51.614 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
02:10:51.661 duet1.duet_comm RUN MACRO: oiling_optimized.g
02:10:52.463 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
02:10:56.047 make_crepe_action wait_until: timeout waiting for idle
02:10:56.051 duet1.duet_comm GCODE: G92 A0
02:10:56.054 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
02:10:57.616 make_crepe_action spread_dough started
02:10:57.617 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
02:10:57.623 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
02:10:57.626 duet2.duet_comm GCODE: M106 P3 S0.95
02:10:58.593 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-22_02-08-53/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1101-deb3c1ee.mp4?X-Amz-Expires=3600&X-Amz-Date=20260322T011055Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260322%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=94c8ee065c146a8b59155826b5ce49395ba895efadd08d9c2aff1b76252f96fb
02:10:58.902 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
02:10:58.900 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
02:10:59.701 duet1.duet_comm RUN MACRO: dough_spread_air.g
02:10:59.704 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
02:10:59.714 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
02:11:13.328 make_crepe_action cook started
02:11:13.331 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
02:11:13.334 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
02:11:13.348 duet2.duet_comm GCODE: M106 P3 S0
02:11:43.332 make_crepe_action add_topping started
02:11:43.332 make_crepe_action No topping selected for shape, skipping
02:12:03.335 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
02:12:03.334 make_crepe_action fold started
02:12:03.350 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
02:12:13.184 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
02:12:13.187 make_crepe_action fold started
02:12:13.198 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
02:12:21.328 make_crepe_action push_off started
02:12:21.334 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
02:12:30.189 make_crepe_action wipe_spatula started
02:12:30.187 duet1.duet_comm GCODE: G91 G1 U2.5 G90
02:12:30.205 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