Video

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Frame Analysis

13:35:10 1:52 observation 13:37:02
1 13:35:38
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2 13:36:06
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3 13:36:34
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Phases

Phase Detail Progress Time Elapsed
init 0% 14:35:10 0.007s
prepare 0.000003241299964429345% 14:35:11 0.219s
oiling 0.026965932920575142% 14:35:13 2.718s
spread_dough 0.10691087692975998% 14:35:21 10.693s
cook 0.26551923155784607% 14:35:37 26.565s
add_topping 0.5655802488327026% 14:36:07 56.586s
fold 0.7656299471855164% 14:36:27 76.571s
push_off 0.9454289674758911% 14:36:45 94.545s
wipe_spatula 1% 14:36:54 103.410s

Machine Logs

14:35:10.948 make_crepe_action Executing make_crepe action
14:35:10.948 crepe_log_node Action status update: 1
14:35:10.949 make_crepe_action prepare started
14:35:10.951 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_14-35-10/session.json
14:35:10.954 crepe_log_node Action status update: 2
14:35:10.955 duet1.duet_comm GCODE: G28 X Y
14:35:10.963 duet1.duet_comm GCODE: G92 A0
14:35:10.969 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
14:35:13.647 make_crepe_action oiling started
14:35:13.650 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
14:35:13.658 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
14:35:15.638 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
14:35:15.687 duet1.duet_comm RUN MACRO: oiling_optimized.g
14:35:16.493 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
14:35:20.061 make_crepe_action wait_until: timeout waiting for idle
14:35:20.065 duet1.duet_comm GCODE: G92 A0
14:35:20.065 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
14:35:21.640 make_crepe_action spread_dough started
14:35:21.643 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
14:35:21.644 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
14:35:21.647 duet2.duet_comm GCODE: M106 P3 S0.95
14:35:22.925 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
14:35:22.928 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
14:35:23.728 duet1.duet_comm RUN MACRO: dough_spread_air.g
14:35:23.730 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
14:35:23.740 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
14:35:37.501 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
14:35:37.502 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
14:35:37.505 make_crepe_action cook started
14:35:37.524 duet2.duet_comm GCODE: M106 P3 S0
14:36:07.507 make_crepe_action add_topping started
14:36:07.508 make_crepe_action No topping selected for shape, skipping
14:36:27.514 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
14:36:27.517 make_crepe_action fold started
14:36:27.526 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
14:36:37.352 make_crepe_action fold started
14:36:37.358 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
14:36:37.375 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
14:36:45.492 make_crepe_action push_off started
14:36:45.500 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
14:36:54.356 duet1.duet_comm GCODE: G91 G1 U2.5 G90
14:36:54.355 make_crepe_action wipe_spatula started
14:36:54.370 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