Video

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Frame Analysis

16:09:38 1:51 observation 16:11:29
1 16:10:05
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2 16:10:33
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3 16:11:01
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Phases

Phase Detail Progress Time Elapsed
init 0% 17:09:38 0.008s
prepare 0.0000026787199658429017% 17:09:38 0.012s
oiling 0.026158981025218964% 17:09:41 2.632s
spread_dough 0.10608397424221039% 17:09:49 10.618s
cook 0.2632867395877838% 17:10:04 26.335s
add_topping 0.5633878707885742% 17:10:34 56.357s
fold 0.7634440660476685% 17:10:54 76.384s
push_off 0.9431821703910828% 17:11:12 94.349s
wipe_spatula 1% 17:11:21 103.209s

Machine Logs

17:09:38.601 make_crepe_action Executing make_crepe action
17:09:38.601 crepe_log_node Action status update: 4, 1
17:09:38.602 make_crepe_action prepare started
17:09:38.605 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-03-22_17-09-38/session.json
17:09:38.605 duet1.duet_comm GCODE: G28 X Y
17:09:38.608 crepe_log_node Action status update: 4, 2
17:09:38.614 duet1.duet_comm GCODE: G92 A0
17:09:38.642 duet1.duet_comm GCODE: G1 X0 Y0 Z0 B10 C5 F20000
17:09:41.218 make_crepe_action oiling started
17:09:41.218 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
17:09:41.226 duet1.duet_comm GCODE: G90 G92 A0 G1 A4.39 B134.50 F6000
17:09:43.208 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
17:09:43.259 duet1.duet_comm RUN MACRO: oiling_optimized.g
17:09:44.070 duet2.duet_comm GCODE: M42 P2 S1 M280 P1 S0.1
17:09:47.640 make_crepe_action wait_until: timeout waiting for idle
17:09:47.650 duet1.duet_comm GCODE: G92 A0
17:09:47.647 duet2.duet_comm GCODE: M42 P2 S0 M280 P1 S70.0
17:09:49.213 make_crepe_action spread_dough started
17:09:49.217 make_crepe_action Full Duration: 8.6s; Speed: 229.2 mm/s; r_critical: 60.6mm; r_stop: 60.6mm ;duration_stop: 7.3s
17:09:49.221 duet2.duet_comm GCODE: M106 P3 S0.95
17:09:49.228 duet1.duet_comm GCODE: G90 G92 A0 G1 A0.97 B204.52 F8000
17:09:50.494 duet2.duet_comm GCODE: T0 G1 E0.16676018704074816 F12.507014028056112
17:09:50.498 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
17:09:51.293 duet1.duet_comm RUN MACRO: dough_spread_air.g
17:09:51.296 duet2.duet_comm GCODE: T0 G1 E28.266002679537927 F232.4188376753507
17:09:51.306 duet2.duet_comm GCODE: T0 G1 E4.764411624347323 F195.97995991983967
17:10:03.143 sync_crepes Uploaded video /home/maus/crepes_made_logs/2026-03-22_17-07-42/webcam.mp4 to https://crepes-made-videos.7c7838a4bd775c4700ac0267fb10d97e.r2.cloudflarestorage.com/1153-7032fe7b.mp4?X-Amz-Expires=3600&X-Amz-Date=20260322T161002Z&X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=0a99014b334730c024740eae91548eeb%2F20260322%2Fauto%2Fs3%2Faws4_request&X-Amz-SignedHeaders=host&X-Amz-Signature=d79e55e7366d32f33c50463d3aa6e91a0a905a97de5132aff44ccdf6289fbbbc
17:10:04.931 duet1.duet_comm GCODE: G92 A0 G1 A290 F800 G92 A0
17:10:04.934 duet2.duet_comm GCODE: T0 G1 E-0.16676018704074816 F12.507014028056112
17:10:04.934 make_crepe_action cook started
17:10:04.946 duet2.duet_comm GCODE: M106 P3 S0
17:10:34.941 make_crepe_action add_topping started
17:10:34.944 make_crepe_action No topping selected for shape, skipping
17:10:54.949 make_crepe_action fold started
17:10:54.950 duet1.duet_comm GCODE: G1 A180 F4000 G92 A0
17:10:54.963 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
17:11:04.786 make_crepe_action fold started
17:11:04.789 duet1.duet_comm GCODE: G92 A0 G1 A90 F6000
17:11:04.802 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
17:11:12.920 make_crepe_action push_off started
17:11:12.922 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
17:11:21.786 duet1.duet_comm GCODE: G91 G1 U2.5 G90
17:11:21.786 make_crepe_action wipe_spatula started
17:11:21.803 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