Video

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Frame Analysis

01:30:41 1:52 observation 01:32:33
1 01:31:09
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2 01:31:37
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3 01:32:05
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Phases

Phase Detail Progress Time Elapsed
init 0% 02:30:41 0.008s
prepare 0.0000024496400783391437% 02:30:41 0.010s
oiling 0.026599925011396408% 02:30:44 2.661s
spread_dough 0.10662368685007095% 02:30:52 10.666s
cook 0.2652616798877716% 02:31:08 26.528s
add_topping 0.5652878284454346% 02:31:38 56.552s
fold 0.7653270959854126% 02:31:58 76.533s
push_off 0.9451261162757874% 02:32:16 94.513s
wipe_spatula 1% 02:32:25 103.373s

Machine Logs

02:30:41.811 make_crepe_action Executing make_crepe action
02:30:41.811 crepe_log_node Action status update: 1
02:30:41.813 make_crepe_action prepare started
02:30:41.816 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_02-30-41/session.json
02:30:41.817 crepe_log_node Action status update: 2
02:30:41.820 duet1.duet_comm GCODE: G28 X Y
02:30:41.829 duet1.duet_comm GCODE: G92 A0
02:30:41.840 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
02:30:44.472 make_crepe_action oiling started
02:30:44.475 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
02:30:44.478 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
02:30:46.472 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
02:30:46.518 duet1.duet_comm RUN MACRO: oiling_optimized.g
02:30:47.318 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
02:30:50.882 make_crepe_action wait_until: timeout waiting for idle
02:30:50.884 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
02:30:50.903 duet1.duet_comm GCODE: G92 A0
02:30:52.475 make_crepe_action spread_dough started
02:30:52.478 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
02:30:52.481 duet2.duet_comm GCODE: M106 P3 S0.95
02:30:52.484 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
02:30:53.760 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
02:30:53.766 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
02:30:54.567 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
02:30:54.569 duet1.duet_comm RUN MACRO: dough_spread_air.g
02:30:54.581 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
02:31:08.339 make_crepe_action cook started
02:31:08.341 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
02:31:08.342 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
02:31:08.354 duet2.duet_comm GCODE: M106 P3 S0
02:31:38.341 make_crepe_action add_topping started
02:31:38.343 make_crepe_action No topping selected for shape, skipping
02:31:58.345 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
02:31:58.345 make_crepe_action fold started
02:31:58.355 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
02:32:08.185 make_crepe_action fold started
02:32:08.185 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
02:32:08.203 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
02:32:16.325 make_crepe_action push_off started
02:32:16.328 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
02:32:25.184 make_crepe_action wipe_spatula started
02:32:25.187 duet1.duet_comm GCODE: G91 G1 U2.5 G90
02:32:25.200 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