Video

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Frame Analysis

14:04:13 1:55 observation 14:06:08
1 14:04:41
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2 14:05:10
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3 14:05:39
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Phases

Phase Detail Progress Time Elapsed
init 0% 15:04:13 0.006s
prepare 0.00000488538989884546% 15:04:13 0.011s
oiling 0.027391310781240463% 15:04:16 2.768s
spread_dough 0.1072448194026947% 15:04:24 10.726s
cook 0.26580652594566345% 15:04:40 26.587s
add_topping 0.5658506155014038% 15:05:10 56.608s
fold 0.7829840183258057% 15:05:31 78.304s
push_off 0.9729729294776917% 15:05:50 97.304s
wipe_spatula 1% 15:05:59 106.166s

Machine Logs

15:04:13.626 make_crepe_action Executing make_crepe action
15:04:13.627 crepe_log_node Action status update: 1
15:04:13.629 make_crepe_action prepare started
15:04:13.630 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_15-04-13/session.json
15:04:13.632 crepe_log_node Action status update: 2
15:04:13.637 duet1.duet_comm GCODE: G28 X Y
15:04:13.645 duet1.duet_comm GCODE: G92 A0
15:04:13.653 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:04:16.373 make_crepe_action oiling started
15:04:16.378 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
15:04:16.396 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:04:18.349 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
15:04:18.398 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:04:19.205 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:04:22.784 make_crepe_action wait_until: timeout waiting for idle
15:04:22.788 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:04:22.788 duet1.duet_comm GCODE: G92 A0
15:04:24.352 make_crepe_action spread_dough started
15:04:24.353 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
15:04:24.354 duet2.duet_comm GCODE: M106 P3 S0.95
15:04:24.364 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:04:25.644 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
15:04:25.644 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:04:26.444 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
15:04:26.447 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:04:26.454 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
15:04:40.209 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:04:40.210 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:04:40.211 make_crepe_action cook started
15:04:40.221 duet2.duet_comm GCODE: M106 P3 S0
15:05:10.213 make_crepe_action add_topping started
15:05:10.214 make_crepe_action Topping: apple, Port: 2, Density: 0.03, Flowrate: 1.3, DM: 297.5, Offset: 2.0, Resolution: 10.0, T_per_mm: 0.023076923076923075
15:05:10.221 duet1.duet_comm UPLOAD MACRO: eth-logo_E.g G93 G1 A-22 B217 F260.00 G1 A-28 B212 F260.00 G1 A-34 B206 F260.00 G1 A-39 B200 F260.00 G1 A-44 B194 F260.00 G1 A-48 B201 F260.00 G1 A-53 B208 F260.00 G1 A-58 B214 F260.00 G1 A-54 B223 F260.00 G1 A-48 B231 F260.00 G1 A-50 B228 F260.00 G1 A-55 B220 F260.00 G1 A-60 B214 F260.00 G1 A-66 B219 F260.00 G1 A-74 B222 F260.00 G1 A-82 B224 F260.00 G1 A-81 B234 F260.00 G1 A-79 B244 F260.00 G1 A-77 B255 F260.00 G1 A-73 B265 F260.00 G94
15:05:10.268 duet1.duet_comm UPLOAD MACRO: eth-logo_T.g G93 G1 A-15 B220 F260.00 G1 A-8 B222 F260.00 G1 A0 B223 F260.00 G1 A8 B222 F260.00 G1 A16 B221 F260.00 G1 A13 B221 F260.00 G1 A5 B223 F260.00 G1 A2 B228 F260.00 G1 A2 B238 F260.00 G1 A2 B249 F260.00 G1 A3 B259 F260.00 G1 A4 B269 F260.00 G1 A6 B279 F260.00 G1 A14 B290 F260.00 G94
15:05:10.317 duet1.duet_comm UPLOAD MACRO: eth-logo_H.g G93 G1 A27 B215 F260.00 G1 A31 B224 F260.00 G1 A35 B232 F260.00 G1 A41 B240 F260.00 G1 A49 B248 F260.00 G1 A59 B254 F260.00 G1 A71 B259 F260.00 G1 A75 B260 F260.00 G1 A61 B255 F260.00 G1 A51 B249 F260.00 G1 A46 B242 F260.00 G1 A52 B235 F260.00 G1 A57 B227 F260.00 G1 A61 B218 F260.00 G1 A64 B210 F260.00 G1 A70 B211 F260.00 G1 A76 B214 F260.00 G1 A83 B216 F260.00 G1 A81 B216 F260.00 G1 A74 B213 F260.00 G1 A68 B210 F260.00 G1 A62 B206 F260.00 G1 A57 B200 F260.00 G1 A52 B194 F260.00 G1 A48 B188 F260.00 G94
15:05:10.317 make_crepe_action Uploaded 3 path macros. Starting execution.: [{'name': 'eth-logo_E.g', 'length': 199.916, 'start_coord': {'d': 216.506, 'rot': -21.543}, 'g_code': 'G93\nG1 A-22 B217 F260.00\nG1 A-28 B212 F260.00\nG1 A-34 B206 F260.00\nG1 A-39 B200 F260.00\nG1 A-44 B194 F260.00\nG1 A-48 B201 F260.00\nG1 A-53 B208 F260.00\nG1 A-58 B214 F260.00\nG1 A-54 B223 F260.00\nG1 A-48 B231 F260.00\nG1 A-50 B228 F260.00\nG1 A-55 B220 F260.00\nG1 A-60 B214 F260.00\nG1 A-66 B219 F260.00\nG1 A-74 B222 F260.00\nG1 A-82 B224 F260.00\nG1 A-81 B234 F260.00\nG1 A-79 B244 F260.00\nG1 A-77 B255 F260.00\nG1 A-73 B265 F260.00\nG94'}, {'name': 'eth-logo_T.g', 'length': 133.034, 'start_coord': {'d': 219.704, 'rot': -15.069}, 'g_code': 'G93\nG1 A-15 B220 F260.00\nG1 A-8 B222 F260.00\nG1 A0 B223 F260.00\nG1 A8 B222 F260.00\nG1 A16 B221 F260.00\nG1 A13 B221 F260.00\nG1 A5 B223 F260.00\nG1 A2 B228 F260.00\nG1 A2 B238 F260.00\nG1 A2 B249 F260.00\nG1 A3 B259 F260.00\nG1 A4 B269 F260.00\nG1 A6 B279 F260.00\nG1 A14 B290 F260.00\nG94'}, {'name': 'eth-logo_H.g', 'length': 240.948, 'start_coord': {'d': 214.672, 'rot': 27.177}, 'g_code': 'G93\nG1 A27 B215 F260.00\nG1 A31 B224 F260.00\nG1 A35 B232 F260.00\nG1 A41 B240 F260.00\nG1 A49 B248 F260.00\nG1 A59 B254 F260.00\nG1 A71 B259 F260.00\nG1 A75 B260 F260.00\nG1 A61 B255 F260.00\nG1 A51 B249 F260.00\nG1 A46 B242 F260.00\nG1 A52 B235 F260.00\nG1 A57 B227 F260.00\nG1 A61 B218 F260.00\nG1 A64 B210 F260.00\nG1 A70 B211 F260.00\nG1 A76 B214 F260.00\nG1 A83 B216 F260.00\nG1 A81 B216 F260.00\nG1 A74 B213 F260.00\nG1 A68 B210 F260.00\nG1 A62 B206 F260.00\nG1 A57 B200 F260.00\nG1 A52 B194 F260.00\nG1 A48 B188 F260.00\nG94'}]
15:05:10.388 duet1.duet_comm GCODE: G1 A-22 B217 F6000
15:05:12.642 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
15:05:13.945 duet1.duet_comm RUN MACRO: eth-logo_E.g
15:05:13.946 duet2.duet_comm GCODE: T2 G1 E8.627329215353784 F112.20240480961925
15:05:19.219 duet1.duet_comm GCODE: G1 A-15 B220 F6000
15:05:20.358 duet1.duet_comm RUN MACRO: eth-logo_T.g
15:05:20.358 duet2.duet_comm GCODE: T2 G1 E5.741051815939572 F112.20240480961925
15:05:24.355 duet1.duet_comm GCODE: G1 A27 B215 F6000
15:05:25.776 duet1.duet_comm RUN MACRO: eth-logo_H.g
15:05:25.784 duet2.duet_comm GCODE: T2 G1 E10.3980557823339 F112.20240480961925
15:05:31.926 make_crepe_action fold started
15:05:31.929 duet1.duet_comm GCODE: G1 B10 F6000
15:05:31.929 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
15:05:31.941 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:05:31.955 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
15:05:42.797 make_crepe_action fold started
15:05:42.803 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:05:42.822 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
15:05:50.926 make_crepe_action push_off started
15:05:50.936 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
15:05:59.785 make_crepe_action wipe_spatula started
15:05:59.788 duet1.duet_comm GCODE: G91 G1 U2.5 G90
15:05:59.804 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