Video

0:00 / 0:00

Frame Analysis

14:21:30 1:55 observation 14:23:25
1 14:21:58
Loading...
2 14:22:27
Loading...
3 14:22:56
Loading...

Phases

Phase Detail Progress Time Elapsed
init 0% 15:21:30 0.007s
prepare 0.000002690580004127696% 15:21:30 0.011s
oiling 0.026627827435731888% 15:21:33 2.705s
spread_dough 0.10666380822658539% 15:21:41 10.698s
cook 0.2639309763908386% 15:21:57 26.428s
add_topping 0.563994824886322% 15:22:27 56.400s
fold 0.7824153304100037% 15:22:49 78.263s
push_off 0.9724157452583313% 15:23:08 97.243s
wipe_spatula 1% 15:23:17 106.101s

Machine Logs

15:21:30.972 make_crepe_action Executing make_crepe action
15:21:30.972 crepe_log_node Action status update: 4, 1
15:21:30.973 make_crepe_action prepare started
15:21:30.974 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_15-21-30/session.json
15:21:30.976 duet1.duet_comm GCODE: G28 X Y
15:21:30.976 crepe_log_node Action status update: 4, 2
15:21:30.985 duet1.duet_comm GCODE: G92 A0
15:21:30.994 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
15:21:32.281 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-22_15-19-30/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1119-1a0280b3.mp4?X-Amz-Expires=3600&X-Amz-Date=20260322T142131Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260322%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=d9e998ce5962fd5dcacd92ad2fb7b078375e12468e385c3b6646637d04aca098
15:21:33.637 make_crepe_action oiling started
15:21:33.644 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
15:21:33.648 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
15:21:35.636 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
15:21:35.688 duet1.duet_comm RUN MACRO: oiling_optimized.g
15:21:36.505 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
15:21:40.070 make_crepe_action wait_until: timeout waiting for idle
15:21:40.073 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
15:21:40.076 duet1.duet_comm GCODE: G92 A0
15:21:41.639 make_crepe_action spread_dough started
15:21:41.641 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
15:21:41.644 duet2.duet_comm GCODE: M106 P3 S0.95
15:21:41.646 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
15:21:42.926 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
15:21:42.931 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
15:21:43.728 duet1.duet_comm RUN MACRO: dough_spread_air.g
15:21:43.728 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
15:21:43.736 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
15:21:57.367 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
15:21:57.368 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
15:21:57.370 make_crepe_action cook started
15:21:57.393 duet2.duet_comm GCODE: M106 P3 S0
15:22:27.372 make_crepe_action add_topping started
15:22:27.373 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
15:22:27.377 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
15:22:27.424 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
15:22:27.489 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
15:22:27.547 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'}]
15:22:27.551 duet1.duet_comm GCODE: G1 A-22 B217 F6000
15:22:29.778 duet2.duet_comm GCODE: T2 G1 E1.4003740814963264 F105.02805611222446
15:22:31.082 duet2.duet_comm GCODE: T2 G1 E8.627329215353784 F112.20240480961925
15:22:31.095 duet1.duet_comm RUN MACRO: eth-logo_E.g
15:22:36.498 duet1.duet_comm GCODE: G1 A-15 B220 F6000
15:22:37.641 duet2.duet_comm GCODE: T2 G1 E5.741051815939572 F112.20240480961925
15:22:37.650 duet1.duet_comm RUN MACRO: eth-logo_T.g
15:22:41.639 duet1.duet_comm GCODE: G1 A27 B215 F6000
15:22:43.066 duet2.duet_comm GCODE: T2 G1 E10.3980557823339 F112.20240480961925
15:22:43.070 duet1.duet_comm RUN MACRO: eth-logo_H.g
15:22:49.209 duet1.duet_comm GCODE: G1 B10 F6000
15:22:49.213 duet2.duet_comm GCODE: T2 G1 E-0.58249832999332 F43.687374749499
15:22:49.215 make_crepe_action fold started
15:22:49.233 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
15:22:49.250 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
15:23:00.067 make_crepe_action fold started
15:23:00.069 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
15:23:00.091 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
15:23:08.215 make_crepe_action push_off started
15:23:08.219 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
15:23:17.071 make_crepe_action wipe_spatula started
15:23:17.072 duet1.duet_comm GCODE: G91 G1 U2.5 G90
15:23:17.097 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